CCU Application Solution 'Bus Positioning' / Manuals – … · 2014. 8. 2. · Manual – CCU "6...

Drive Technology \ Drive Automation \ System Integration \ Services

Manual

CCU"Bus Positioning" Application Module

Edition 12/2010 17054826 / EN

2 Manual – CCU "6 PD Bus Positioning" Application Module

Contents

Contents1 General Information ............................................................................................ 3

1.1 Right to claim under warranty ..................................................................... 31.2 Exclusion of liability..................................................................................... 31.3 Copyright..................................................................................................... 31.4 Product names and trademarks.................................................................. 31.5 Applicable documentation........................................................................... 3

2 Safety Notes ........................................................................................................ 42.1 General information .................................................................................... 42.2 Target group ............................................................................................... 42.3 Designated use ........................................................................................... 52.4 Bus systems................................................................................................ 5

3 System Description............................................................................................. 63.1 Area of application ...................................................................................... 63.2 Profile.......................................................................................................... 6

4 Project Planning.................................................................................................. 74.1 Prerequisites ............................................................................................... 7

4.1.1 PC and software .......................................................................... 74.1.2 Approved unit combination .......................................................... 74.1.3 Correctly configured units ........................................................... 7

4.2 Process data assignment............................................................................ 74.2.1 Overview...................................................................................... 74.2.2 Fieldbus input data (6 PD) ........................................................... 84.2.3 Fieldbus output data (6 PD)......................................................... 9

5 Startup................................................................................................................ 105.1 Prerequisites ............................................................................................. 105.2 Startup procedure ..................................................................................... 115.3 Integrating a single-axis module into the axis configuration ..................... 125.4 Setting the "6 PD bus positioning" application module ............................ 13

5.4.1 Scaling parameters.................................................................... 135.4.2 System limits.............................................................................. 145.4.3 Monitoring .................................................................................. 165.4.4 Reference travel ........................................................................ 195.4.5 Completing the configuration ..................................................... 21

5.5 Saving the configuration on the SD card of the CCU................................ 22

6 Operation and Diagnostics .............................................................................. 23

7 Appendix............................................................................................................ 247.1 Input terminal assignment......................................................................... 24

Index................................................................................................................... 25

Manual – CCU "6 PD Bus Positioning" Application Module 3

1Right to claim under warrantyGeneral Information

1 General Information1.1 Right to claim under warranty

A requirement of fault-free operation and fulfillment of any rights to claim under limitedwarranty is that you adhere to the information in the documentation at hand. Therefore,read the documentation before you start working with the software and the connectedunits from SEW-EURODRIVE.

Make sure that the documentation is available to persons responsible for the machineryand its operation as well as to persons who work independently on the devices. Also en-sure that the documentation is legible.

1.2 Exclusion of liabilityYou must adhere to this documentation and the documentation of the connected de-vices from SEW-EURODRIVE to ensure safe operation and to achieve the specifiedproduct characteristics and performance features.

SEW-EURODRIVE assumes no liability for injury to persons or damage to equipment orproperty resulting from non-observance of the documentation. In such cases, any liabil-ity for defects is excluded.

1.3 Copyright© 2010 – SEW-EURODRIVE. All rights reserved.

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

1.4 Product names and trademarksAll brands and product names in this documentation are trademarks or registered trade-marks of their respective titleholders.

1.5 Applicable documentationThe "applicable documentation" is listed in the documentation for the configuration soft-ware "Application Configurator for CCU".


2 General informationSafety Notes

2 Safety Notes2.1 General information

The following basic safety notes must be read carefully to prevent injury to persons anddamage to property. The operator must ensure that the basic safety notes are read andadhered to.

Ensure that persons responsible for the machinery and its operation as well as personswho work independently have read through the documentation carefully and understoodit. If you are unclear about any of the information in this documentation or if you requirefurther information, please contact SEW-EURODRIVE.

The following safety notes refer to the use of the software. Also adhere to the supple-mentary safety notes in this document and in the documentation of the connected de-vices from SEW-EURODRIVE.

This document does not replace the detailed documentation of the connected devices.This documentation assumes that the user has access to and is familiar with the docu-mentation for all connected units from SEW-EURODRIVE.

Never install or start up damaged products. Submit a complaint to the shipping companyimmediately in the event of damage.

During operation, the devices may have live, uninsulated, and sometimes moving or ro-tating parts as well as hot surfaces depending on their degree of protection.

Removing covers without authorization, improper use as well as incorrect installation oroperation may result in severe injuries to persons or damage to property. Refer to thedocumentation for additional information.

2.2 Target groupAny work with the software may only be performed by adequately qualified personnel.Qualified personnel in this context are persons who have the following qualifications:

• Appropriate instruction.

• Knowledge of this documentation and other applicable documentation.

• SEW-EURODRIVE recommends additional product training for products that are op-erated using this software.

Any mechanical work on connected units may only be performed by adequately quali-fied personnel. Qualified staff in the context of this documentation are persons familiarwith the design, mechanical installation, troubleshooting and servicing of the productwho possess the following qualifications:

• Training in mechanical engineering, e.g. as a mechanic or mechatronics technician(final examinations must have been passed).



2Designated useSafety Notes

Any electrical work on connected units may only be performed by adequately qualifiedelectricians. Qualified electricians in the context of this documentation are persons fa-miliar with electrical installation, startup, troubleshooting and servicing of the productwho possess the following qualifications:

• Training in electrical engineering, e.g. as an electrician or mechatronics technician(final examinations must have been passed).


• Knowledge of the relevant safety regulations and laws.

• Knowledge of the other standards, guidelines, and laws mentioned in this documen-tation.

The above mentioned persons must have the authorization expressly issued by thecompany to operate, program, configure, label and ground units, systems and circuits inaccordance with the standards of safety technology.

All work in further areas of transportation, storage, operation and waste disposal mustonly be carried out by persons who are trained appropriately.

2.3 Designated useSEW-EURODRIVE offers various standardized control programs, so-called applicationmodules.

The "bus positioning" application module is a single-axis application for variable posi-tions in conjunction with different speeds and ramps.

You can use the unit-independent "Application Configurator" software to startup andconfigure the axes for the application module and to download the complete configura-tion to the controller.

2.4 Bus systemsA bus system makes it possible to adapt frequency inverters and/or motor starters to theparticulars of the machinery within wide limits. This results in the risk that a change ofparameters that cannot be detected externally can result in unexpected, though not un-controlled, system behavior.


3 Area of applicationSystem Description

3 System Description3.1 Area of application

The "bus positioning" application module is used for variable positions in conjunctionwith different speeds and ramps.

The positioning is carried out via the built-in motor encoder or an optional distance en-coder. Only the linear, absolute positioning is supported. You can work with user units.

The following operating modes are supported:

• Jog

• Referencing

• Positioning

3.2 ProfileThe "Bus positioning" application module has the following profile:

Profile Scope of functions

6 PD 6 process data words to control position, speed, acceleration and deceleration.

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4PrerequisitesProject Planning

4 Project Planning4.1 Prerequisites4.1.1 PC and software

The application module is part of the configuration software "Application Configurator".

For this reason, the system requirements of the Application Configurator apply. They arelisted in the documentation "Configuration Software Application Configurator for CCU".

4.1.2 Approved unit combinationThe assignment of inverters to the respective CCU (standard or advanced) is listed inthe documentation for the configuration software "Application Configurator for CCU".

4.1.3 Correctly configured units Correct project planning and flawless installation of the units are the prerequisites forsuccessful startup and operation of the application modules with the Application Config-urator.

For detailed project planning information, refer to the documentation of the respectiveunit (see chapter "Other applicable documentation").

4.2 Process data assignment4.2.1 Overview

The following table lists the process data assignment depending on the selected profile:

Profile Process data assignment

Fieldbus input data Fieldbus output data

6 PD I1 = control wordI2 = setpoint position (high word)I3 = setpoint position (low word)I4 = setpoint speedI5 = accelerationI6 = deceleration

O1 = status wordO2 = actual position (high word)O3 = actual position (low word)O4 = actual speedO5 = active output currentO6 = status word 2


4 Process data assignmentProject Planning

4.2.2 Fieldbus input data (6 PD)The following table describes the fieldbus input data from the PLC to the inverter for con-trol via fieldbus with 6 process data words.

Word Bit Function

I1 0 /Controller inhibit 0 = Enable1 = Controller inhibit

1 Enable/rapid stop 0 = Rapid stop1 = Enable

2 Enable/stop 0 = Stop1 = Enable

3 Reserved

4 Reserved

5 Reserved

6 Reset fault

7 Reserved (brake release without enable)

8 Start

9 Jog +

10 Jog -

11 Mode 20 00 = operating mode 0: Reserved01 = operating mode 1: Jog mode10 = operating mode 2: Referencing mode11 = operating mode 3: Positioning mode

12 Mode 21

13 Reserved

14 Reserved

15 SWLS 0 = SWLS activated1 = SWLS activated

I2 0-15 Setpoint position (high word) [user-defined unit]

I3 0-15 Setpoint position (low word) [user-defined unit]

I4 0-15 Setpoint speed [user-defined unit]

I5 0-15 Acceleration [user-defined unit]

I6 0-15 Deceleration [user-defined unit]


4Process data assignmentProject Planning

4.2.3 Fieldbus output data (6 PD)

The following table describes the fieldbus output data from the inverter to the PLC forcontrol via fieldbus with 6 process data words.

Word Bit Function

O1 0 Motor is turning

1 Frequency inverter ready for operation

2 Drive referenced

3 Target position reached

4 Brake released

5 Frequency inverter error

6 HWLS CW 0 = HWLS not reached1 = HWLS reached7 HWLS CCW

8-15 Code for status/warning/error of the frequency inverter1)

1) For a detailed description, refer to the applicable documentation of the unit.

O2 0-15 Actual position (high word) [user-defined unit]

O3 0-15 Actual position (low word) [user-defined unit]

O4 0-15 Actual speed [user-defined unit]

O5 0-15 Active output current [0.1%×IN of the FI]

O6 0 Motor is turning

1 Frequency inverter ready for operation

2 Drive referenced

3 Target position reached

4 Brake released

5 Warning

6 Frequency inverter error

7 Application error

8-15 Code for status/warning/error of the frequency inverter1), application error codes2)

2) For a detailed description, refer to the applicable documentation of the Application Configurator.


5 PrerequisitesStartup

5 Startup5.1 Prerequisites

Check the installation of the inverters, the connection of the encoders, and the installa-tion of the controller.

For installation notes, refer to the documentation of the respective units (see "applicabledocumentation") and the appendix of the documentation of the "Application Configura-tion for CCU" configuration software.

Required softwaretools

You need the MOVITOOLS® MotionStudio engineering software for startup. The scopeof delivery comprises the technology editor "Drive Startup for MOVI-PLC®" and theApplication Configurator.You need the "Drive Startup for MOVI-PLC®" technology editor to set up the inverters(motor startup) and to establish communication with the controller.

You need the Application Configurator to integrate the axes for the application moduleand to set the application module.

The following figure shows the entire procedure step-by-step.

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5Startup procedureStartup

5.2 Startup procedure

Steps 3 to 5 are described in detail below.

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Step 1:Startup of individual axis

Step 2:Setting up the communication with the controller

Step 3:Integrating the individual axis into the axis configuration

Drive startup

MOVITOOLS® MotionStudio

Application Configurator

Step 4:

Setting up the "6 PD bus positioning" application module

Scaling parameters

System limits

Monitoring

Step 5:Saving the configuration on the SD card of the CCU

Reference travel

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5 Integrating a single-axis module into the axis configurationStartup

5.3 Integrating a single-axis module into the axis configurationProceed as follows to integrate the single-axis module into the axis configuration:

1. Start MOVITOOLS® MotionStudio and the Application Configurator as described inthe relevant manual or online help (see chapter "applicable documentation").

2. Click the "Single axis" [1] symbol in the configuration interface of the Application Con-figurator.

A new line appears in the axis section.

3. Configure the axis according to your requirements:

• Name of the axis

• Simulation mode (on or off)

• Controller interface (SBus 1 or 2)

• Address

• Unit type

4. Select the required application module with a suitable profile.

5. Click [Configuration].

A software wizard for setting the application module appears.

6. Follow the instructions of the wizard according to the following chapter "Setting the"6 PD bus positioning" application module".

Once you have completed the instructions of the software wizard, the yellow warningsymbol turns into a green check.

7. Click [Next].

The "Download" interface is displayed.

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[1]

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5Setting the "6 PD bus positioning" application moduleStartup

5.4 Setting the "6 PD bus positioning" application module 5.4.1 Scaling parameters

If you want to operate the application module with user-defined units, you must enter thecorresponding scaling parameters here.

This includes the mechanical parameters of the drive train (gear unit ratio and shaft cir-cumference) and the user-defined units that are used to calculated the scaling.

The "scaling parameters" tab comprises the following functions:

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Section Function

[1] Standardized encoder reso-lution

• No input required, as one motor revolution is mapped to 65536 increments, irrespective of the physical encoder resolution.

[2] "Gear unit ratio, additional gear ratio" edit boxes

• Enter the transmission ratios for the gear unit and additional gear.In this example, i gear unit = 2.

[3] "User-defined unit" edit box

• Enter the user-defined unit for the position specifications here.In this example, millimeter (mm) was entered. You must now specify the "scaling of the user-defined units" [4] so that all position specifications can be based on this unit.

[4] "Scaling of user-defined unit" edit boxes

• The values for numerator, denominator and multiplier determine how many user-defined units correspond to one revolution of the shaft.In this example, the drive wheel has a diameter of 85 mm.This makes 267 "user-defined units per shaft revolution" according to the following formula:U= (31416/10000) × 85 mm = 267 mm

[5] "Time basis for speed" edit box

• Enter the time basis for the speed specifications here.In this example, seconds (s) was entered. This means all speed specifications are based on the unit [mm/s].

[6] [Calculate] button • Click this button to calculate the total scaling factor (numerator/denominator) after you have completed your entries.

[3]

[6]

[5]

[2]

[1]

[4]

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5 Setting the "6 PD bus positioning" application moduleStartup

5.4.2 System limits

The "system limits" tab comprises the following functions:

The following pages contain detailed information about your setting options.

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Section Function

"Limits" group • Here, you can set the following limits for the dynamic properties:– Max. acceleration– Max. velocity– Max. deceleration– Jerk time

"System limits" group • You can set the two system limits here.

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Limits You have the following setting options:

• Max. acceleration• Max. velocity• Max. deceleration

You can set these 3 values separately for jog mode and positioning mode. They limitthe dynamics parameters that are sent via fieldbus.

• Jerk timeJerk limitation ( > 0 ms) protects the mechanical components with smoother acceler-ation and deceleration behavior. Jerk limitation is active in all operating modes.

System limits Deceleration is activated when the control word in bit 1/bit 2 goes to a defined state.

• Enable/rapid stopControl word: Bit 1 = "FALSE"

• Enable/stopControl word: Bit 2 = "FALSE"

INFORMATION• Make sure to assign values (≠ 0) for maximum acceleration, max. speed and max.

deceleration.

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5.4.3 Monitoring

The "Monitoring functions" tab contains the following functions:


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Section Function

"Digital inputs" group • Here, you can assign the digital inputs:– "Keep unit settings"

The parameter settings in MOVITOOLS® MotionStudio apply.– "Activate"

The standard assignment for input terminals for the respective unit applies. This assignment is listed in the appendix of this manual.

– "Deactivate" The input terminals are set to "IPOS input" or "no function" depending on the unit type.

"Limit switch" group • Set the limit switches here:– Hardware limit switches– Software limit switches

• Positive position• Negative position

"In position" group • Here, you can set the two windows for position monitoring and the delay time until "in position" is signaled.

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In position The following figure illustrates the meaning of the parameters:

The "in position" monitor uses two windows to activate and deactivate the "in position"signal:

If the actual position is in the inner window (position window [4]) when the monitoringfunction is active, this "in position" signal is activated. The signal is only revoked whenthe drive leaves the outer window (hysteresis window [1]).

If the drive enters the inner position window again with the same target position, the sig-nal is activated again. Thanks to the hysteresis, a relatively small window can be usedto activate the "in position" signal even for when the drive overshoots the actual position.The delay time prevents bouncing of the "in position" signal.

The "in position" signal is reset immediately with a positive edge of the start signal.

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[1] "Hysteresis" window[2] Delay time[3] Target position[4] Position window

[1]

[2]

[3]

[4]

In-position

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Limit switches Hardware limit switch• "Keep unit settings"

The parameter settings in MOVITOOLS® MotionStudio apply.

• "Activate"

Activates monitoring of the positive and negative limits using hardware limit switches.

The assignment of hardware limit switches to input terminals depends on the unit.The assignment is listed in the appendix of this manual.

• "Deactivate"

Deactivates the monitoring function.

The input terminals are set to "IPOS input" or "no function" depending on the unittype.

When using the hardware limit switches, they have to be designed as NC contacts forwire-break protection reasons (low = limit switch contacted). In the travel range, thehardware limit switches are located after the software limit switches if such are used.

Response when a hardware limit switch is reached:

The axis is decelerated with the value that is set for "enable/rapid stop". The inverter is-sues the error "Hardware limit switch reached" (F29). After an error reset, the drivemoves clear of the hardware limit switch with the clear velocity (reference velocity 2) andthe error is deleted. For clearing the switches, the drive is accelerated and deceleratedwith the values for "enable/rapid stop".

Software limit switchA value (≠0) in the respective field activates monitoring of the positive and negative limitsusing software limit switches. The permitted travel range is defined by the positive andnegative limits. In the travel range, the software limit switches are located before thehardware limit switches if such are used.

Response when a software limit switch is reached:

When the drive moves past a software limit switch in "jog" or "positioning" mode, the axisstops with the deceleration value set in "enable/rapid stop". The application error mes-sage "CW software limit switch reached" (F32) or "CCW software limit switch reached"(F33) is issued. To clear the software limit switch and delete the error, you have to resetthe error and initiate axis movement in the direction of the permitted travel range. Thevelocity, acceleration, and deceleration values of the selected operating mode apply.

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5.4.4 Reference travel

The "Reference travel" tab displays the following functions:


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Section Function

"Reference travel" group • Set the following reference travel parameters here:– Reference travel type– Reference to zero pulse– Reference offset– Search velocity / clear velocity

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Reference travelparameters

You have the following setting options:

• Reference travel typeThe reference travel type defines how the reference run is performed. There are dif-ferent reference travel types available depending on the unit that is used. For de-tailed information, refer to the documentation of the respective unit.

• Reference to zero pulse– Yes: Active

– No: Inactive

• Reference offsetBased on the reference point that was determined during reference travel, you cannow move the machine zero using the reference offset function.

The new machine zero is calculated according to the following formula.

Machine zero = reference position - reference offsetThe reference offset is given in user-defined units.

• Search velocity / clear velocityIf a reference cam is used for reference travel, the drive moves towards the referencecam with the search velocity and away from the reference cam with the clear velocity.

The axis is accelerated and decelerated with the value that is set for "enable/rapidstop".

The velocities are given in user-defined units.

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5.4.5 Completing the configuration

The following functions are available for completing the configuration:

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Section Function

[Save configuration] button With this function, you can save frequently used axis configurations in a configuration file (*.XML). This allows you to use these values again for later startup procedures with the same axis configuration.Proceed das follows:• Click [Save configuration].

A window opens with the folder structure of your computer.• Search for the corresponding storage location in the folder structure. • Enter a name for the configuration. • Click [Save] to exit the dialog.

[Record configuration] button

• With this function, you can generate a PDF file with the axis configura-tion report.

"Author" input field • If you enter a name in the "Author" input field, it will be listed in the report.

[Finish] button • Click [Finish] to exit the assistant. The configuration is now completed, and the configuration screen of the Application Configurator is displayed again.

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5 Saving the configuration on the SD card of the CCUStartup

5.5 Saving the configuration on the SD card of the CCU

You can use the Application Configurator to save the axis configuration of the applica-tion module on the SD card of the CCU. For detailed information, refer to the documen-tation of the Application Configurator.

Proceed as follows to save the configuration:

1. Configure the axis.

2. Open the "Download" section.

3. Click the [Download] button to save the configuration on the SD card of the CCU.

4. The CCU has to be restarted in order to process the new configuration data after thedownload. This is why there is an according query before the configuration is stored.

5. The start page is displayed if the download and the CCU restart have been success-ful.

CAUTIONDownload while the plant is running.

Injury and damage to property.• Set the plant to a safe state.

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6Operation and Diagnostics

6 Operation and Diagnostics

The functions for operation and diagnostics of the application module are integrated inthe "Application Configurator" software, from where they are called.

This is why detailed information about the procedure can be found in the documentation(manual or online help) of the Application Configurator.

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7 Input terminal assignmentAppendix

7 Appendix7.1 Input terminal assignment

The following table shows the terminal assignment of the respective unit with activatedstandard assignment and activated hardware limit switches:

Input terminal Standard assignment and hardware limit switches

MOVIDRIVE® BMOVIAXIS® BMOVITRAC® LTXMOVIPRO® ADC

MOVIGEAR® B DSCMOVIGEAR® SNI B

MOVITRAC® B (in preparation)

DI00 /Controller inhibit /Controller inhibit HWLS positive

DI01 Enable/stop Error reset CW/stop

DI02 Error reset Reference cam HWLS negative

DI03 Reference cam HWLS positive

DI04 HWLS positive HWLS negative

DI05 HWLS negative


Index

Index

AApplicable documentation........................................3Application Configurator.........................................12Application module, characteristics (general) ..........6Assignment of input terminals, unit-dependent ......24Axis integration ......................................................12

BBus system ..............................................................5

CChanging parameters in bus systems......................5Clear velocity .........................................................20Configuration

Application Configurator.....................................12Individual axes ...................................................12

Copyright..................................................................3

DDanger due to changed parameters ........................5Documentation, applicable.......................................3Drive Startup ..........................................................11Dynamic values, maximum values.........................14

EEngineering software ...............................................7Exclusion of liability ..................................................3

FFieldbus input data...................................................7Fieldbus output data ................................................7Fieldbus, uncontrolled system behavior...................5

GGear unit ratio, scaling parameters ........................13

HHardware limit switch .............................................18Hardware requirements............................................7

IInput terminal assignment, unit-dependent ............24Integrating axes .....................................................12

LLiability for defects ...................................................3Limit switch monitoring ....................................16, 18Limitation ...............................................................14Limits, maximum values ........................................14

MMaximum values, system limits .............................14Monitoring functions...............................................16MOVITOOLS® MotionStudio ...................................7

PPosition monitoring ................................................16Prerequisites, startup.............................................10Process data

Bus positioning 6 PD ...........................................7Process data assignment ........................................7Product names.........................................................3

RReference travel parameters .................................19Right to claim under warranty ..................................3

SSafety notes.............................................................4

General information .............................................4Scaling parameters................................................13Search velocity ......................................................20Setting the application module...............................12Software

Benefits................................................................6Characteristics .....................................................6Description...........................................................6

Software limit switch ..............................................18Software requirements.............................................7Startup

Prerequisites......................................................10Procedure ..........................................................11

System limits, maximum values.............................14

TTarget group ............................................................4Trademarks..............................................................3Typical users............................................................4


Index

UUser, typical .............................................................4

Use, designated.......................................................5

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www.sew-eurodrive.com

SEW-EURODRIVE GmbH & Co KGP.O. Box 3023D-76642 Bruchsal/GermanyPhone +49 7251 75-0Fax +49 7251 [email protected]

CCU Application Solution 'Bus Positioning' / Manuals – … · 2014. 8. 2. · Manual – CCU "6...

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Transcript of CCU Application Solution 'Bus Positioning' / Manuals – … · 2014. 8. 2. · Manual – CCU "6...