09191712

MOVIDRIVE®
Drive Inverters
Manual
IPOSplus®Positioning and Sequence Control
Edition 07/2000
10/262/97
C UL
®
UL
®
0919 1712 / 0700
Important Notes
Important Notes
• Read through this manual carefully before you start to install and commission
MOVIDRIVE® drive inverters with IPOSplus®.
This manual assumes that the user has access to and is familiar with the documentation on
the MOVIDRIVE® system, in particular the system manual and the operating instructions.
• Safety notes:
Always follow the safety and warning instructions contained in this manual!
Safety notes are marked as follows:
Electrical hazard, e.g. during live working.
Mechanical hazard, e.g. when working on hoists.
Important instructions for safe and fault-free operation of the driven machine/
system, e.g. pre-setting before commissioning.
• General safety notes for IPOSplus® :

The IPOSplus® positioning control allows you to match the MOVIDRIVE® drive inverter to the
specifics of your application to a very high degree. As with all positioning systems there is,
however, the risk of a programming error in the program, which may result in unexpected
(not uncontrolled, though!) system behavior.
• Each unit is manufactured and tested to current SEW-EURODRIVE technical standards and
specifications.
The manufacturer reserves the right to make changes to the technical data and designs as
well as the user interface herein described, which are in the interest of technical progress.
A requirement of fault-free operation and fulfillment of any rights to claim under guarantee is
that this information is observed.
• We are only discussing the MX_SHELL user interface in this manual. All functions displayed
in this document can also be performed in IPOSplus® ASSEMBLER MOVITOOLS.
Revisions of the preceding edition 02/99 are indicated by a gray line in the margin.
2 MOVIDRIVE®IPOSplus®
Contents
Contents
1 System Description ............................................................................. 4
1.1 General information ...............................................................................................4
1.2 Characteristics of the IPOSplus® sequence and positioning control system ...........4
1.3 Options in conjunction with IPOSplus®..................................................................................... 4
1.4 Control of the MOVIDRIVE® inverter......................................................................5
1.5 Setpoint selection ..................................................................................................5
1.6 Technical data........................................................................................................5
2 Position detection and positioning........................................................... 6
2.1 Encoder evaluation.................................................................................................6
2.2 Encoder combinations ...........................................................................................7
3 Creating, Activating, Storing and Loading Programs ..................................... 9
3.1 Creating programs .................................................................................................9
3.2 Saving/loading programs.....................................................................................11
3.3 Starting/stopping programs.................................................................................12
4 IPOSplus® Programming ..................................................................... 13
4.1 Basic information.................................................................................................13
4.2 Digital inputs/outputs ..........................................................................................15
4.3 Analog inputs/outputs..........................................................................................18
4.4 Brief introduction to IPOSplus® programming by way of examples ......................19
4.5 Task 1 and task 2.................................................................................................21
5 IPOSplus® Parameters ........................................................................ 23
5.1 Setting the user travel units .................................................................................23
5.2 P90_ IPOS reference travel..................................................................................24
5.3 P91_ IPOS travel parameters...............................................................................29
5.4 P92_ IPOS monitoring.........................................................................................31
5.5 P93_ IPOS special functions................................................................................32
5.6 P94_ IPOS variables ............................................................................................32
5.7 P95_ DIP .............................................................................................................33
6 IPOSplus® with Options ....................................................................... 34
6.1 External encoder ..................................................................................................34
6.2 IPOSplus® and Fieldbus ........................................................................................39
6.3 IPOSplus® and Synchronous Operation ................................................................44
7 Command Set ................................................................................. 53
7.1 Overview of commands .......................................................................................53
7.2 Arithmetic commands..........................................................................................55
7.3 Bit commands......................................................................................................56
7.4 Communication commands .................................................................................57
7.5 Positioning commands ........................................................................................66
7.6 Program commands ............................................................................................69
7.7 Set commands.....................................................................................................72
7.8 Special unit commands .......................................................................................78
7.9 Comparison commands.......................................................................................82
8 Survey of System Variables ................................................................. 83
9 Sample Programs............................................................................. 87
9.1 General information .............................................................................................87
9.2 Sample program "Hoist".......................................................................................89
9.3 Sample program "Jog mode" ...............................................................................96
9.4 Sample program "Table positioning" ..................................................................100
10 Fault Messages .............................................................................. 105
10.1 Processing.........................................................................................................105
10.2 List of faults.......................................................................................................106
11 Index ........................................................................................... 112
MOVIDRIVE® IPOSplus® 3
1 System Description
1 System Description
1.1 General information
The IPOSplus® positioning and sequence control system is integrated into every MOVIDRIVE®
inverter as standard. With IPOSplus®, control functions and positioning tasks can be performed
either simultaneously or independently of one another.
The IPOSplus® sequence control system makes it possible to run a user program, irrespective of
any encoder feedback or the selected control modes (VFC, CFC, SERVO).
In conjunction with encoder feedback, the IPOSplus® positioning control provides a high-perfor-
mance point-to-point positioning capability.
Programs for IPOSplus® are written exclusively using the MX_SHELL PC user interface. Commis-
sioning the inverter, accessing parameters and editing variables are possible either with the
MX_SHELL PC interface or the DBG11A operator panel. (Note: The DBG11A can only be used for
commissioning in VFC mode.)
1.2 Characteristics of the IPOSplus® sequence and positioning control system

• Program execution independent of encoder feedback and operating mode
• The user program is continued even if the unit develops a malfunction (troubleshooting
is possible in the user program)
• Two user programs can be run in parallel and independently of one another (task 1 –
interrupt-capable – and task 2)
• The user programs can contain up to 800 program lines
• User-friendly and comprehensive control options for the MOVIDRIVE® inverter
• Possibility of accessing available options (terminal expansion board, fieldbus interfaces,
synchronous operation board, operator panel)
• Extensive options for communication via system bus (S-bus), RS-485, RS-232 and field-
bus interfaces (direct communication with the MOVIMOT® is possible)
• Processing of digital and analog input/output signals
• Positioning with selectable travel speed and positioning ramp

• Feedforward for position, speed and torque control loops with minimized lag error
• Absolute encoder processing
• Table positioning with up to 128 positions
• 2 touch probe inputs
• LINEAR, SINE and SQUARED ramp shapes
• Status and monitoring functions:
Lag error monitoring, position signal, software and hardware limit switches
• 8 possible reference travel types
• Possibility of changing the target position, travel speed, positioning ramp and torque
whilst movement is in progress
• "Endless positioning" (continuous uni-directional operation) is possible
• Override function
1.3 Options in conjunction with IPOSplus®

• DBG11A keypad
• Serial interfaces, types USS21A (RS-232 and RS-485) and USS11A (RS-232)
• Terminal expansion board, type DIO11A
• Absolute encoder board, type DIP11A
• Fieldbus interfaces: PROFIBUS, type DFP11A, INTERBUS, type DFI11A, CAN bus, type
DFC11A
• Synchronous operation board, type DRS11A
System Description 1
1.4 Control of the MOVIDRIVE® inverter

MOVIDRIVE® inverters can be controlled as follows:
• Control via input terminals on the unit
• IPOS plus® control word on "system variable" H484
• RS-485 interface
• Fieldbus interface
• S-bus (system bus)
Control via input terminals and the IPOSplus® control word are always in effect. The active status of
any other control source is defined by the setting of setpoint source P100, control source P101 or
the process data assignment P870 – P872.
1.5 Setpoint selection

Depending on the application, the following possibilities are available for setpoint selection with the
MOVIDRIVE® inverter:
• Analog setpoints
• Fixed setpoints
• Fixed setpoints and analog setpoints
• Motor potentiometer
• Master-slave mode with S-bus
• Master-slave mode with RS-485
• DPA/DPI setpoint (only with DPA11A/DPI11A option)
• DRS setpoint (only with DRS11A option)
• Fieldbus/fieldbus monitor setpoint (only with fieldbus interface option)
• IPOSplus® position setpoint
The question of whether encoder feedback is required for setpoint processing depends on which
operating mode is selected. The setpoint which is actually active depends on the following settings:
• Operating mode P700
• Setpoint source P100
• Setting of the input terminal parameters P600 – P604, P610 – P617
• Fieldbus process output data assignment/monitor mode
• Selection of manual operation in MX_SHELL / DBG11A keypad
1.6 Technical data

Encoder resolution IPOSplus® always operates with 4096 increments / motor revolution
(pre-requisite: encoder resolution of 512, 1024 or 2048 pulses / motor
revolution or resolver)
Max. program length of task 1 and task 2: Approx. 800 program lines in total (max. 512 per task)
(max. 1000 program and remark lines in the editor)
Command processing time Task 1: 1.0 ms / program line
Task 2: 0.5 ms / program line
Variables: 512, of which 128 (0 – 127) can be stored to non-volatile memory
Value range: -231 – +( 231 - 1)
Touch probe inputs: 2 inputs, processing time 200 s
Sampling interval of digital and analog 1 – 5 ms
inputs:
Digital inputs/outputs: Basic unit: 6 inputs / 3 outputs
DIO11A option: 8 inputs / 8 outputs
Analog inputs/outputs: Basic unit: 1 input (0 – 10 V, ±10 V, 0 – 20 mA, 4 – 20 mA)
DIO11A option: 1 input (0 – 10 V, ±10 V, 0 – 20 mA)
2 outputs (±10 V, 0 – 20 mA, 4 – 20 mA)
2 Position detection and
positioning
2 Position detection and positioning

2.1 Encoder evaluation
MOVIDRIVE® offers three positioning methods:
• external encoder
• motor encoder (incremental encoder/resolver)
• absolute encoder
The values are indicated in system variables for processing.
The connections for motor encoder (X15) and external encoder (X14) are located on the MDV...
and MDS... control electronics. The MDF... control electronics do not have these connections. The
connection fo the absolute encoder is located on the DIP11A (X62) option card.
All connected encoders will always be evaluated independent of the operating mode (P700). Opera-
ting modes with positioning mode (VFC-n-Reg. & IPOS, CFC & IPOS, SERVO & IPOS) always
require a motor encoder at X15. The actual positions can be evaluated with the touch-probe
function.
Absolute encoder Incremental encoder Incremental encoder /
at DIP11A reconstruction Resolver
Encoder type
P941: Absolute encoder P941: External encoder P941: Motor encoder
(DIP) (X14) (X15)
Connection X62 / DIP11A X14 / Basic unit X15 / Basic unit
Actual value on variable H509 / ACTPOS. ABS H510 / ACTPOS. EXT H511 / ACTPOS. MOT
Resolution Absolute position after conver- Actual encoder bar number always 4096 inc./motor
sion with: (with quadruple evaluation) rotation, independent of
zero point offset (P954), actual encoder resolution
position offset (P953),
counting direction (P951)
Edge at DI02 H503 / TP. POS1ABS H506 / TP. POS1EXT H507 / TP. POS1MOT
Touch-
Edge an DI03 H502 / TP. POS2ABS H504 / TP. POS2EXT H505 / TP. POS2MOT
probe
max. delay time 1 ms < 100 s < 100 s
The position values are always available to the IPOSplus® control in variables H509 to 511. Enco-
ders connected to X14 and X15 can always be detected and processed further in the IPOSplus® pro-
gram, even if the positioning is not done with IPOSplus®. Positioning with the IPOSplus® commands
(GO...) always requires a motor encoder. The motor encoder submits a high-quality speed signal to
the MOVIDRIVE® unit.
Position detection and 2
positioning
2.2 Encoder combinations

Direct position control and motor encoder
• This combination requires an incremental encoder /
vmax amax resolver (X15) at the motor.
• Positioning commands, e.g. "GOA ..." , are executed in
Profile Position +
generator
+
control n control IPOSplus® in reference to the source actual position
- - (here: absolute encoder (DIP)).
Posact. nact.
M
02742AEN
Direct position control with motor encoder and external encoder

• This combination requires an incremental encoder /
External resolver (X15) at the motor for speed feedback.
encoder
• There is an automatic slip compensation between incre-
X14
vmax amax mental encoder / resolver of the motor and the external
- encoder.
Profile + Position +
generator control n control • Positioning commands, e.g. "GOA ..." , are executed in
-
IPOSplus® in reference to the source actual position
nact.
(here: absolute encoder (DIP)).
M • The actual control dynamic that can be accomplished
depends on the properties and the mechanical installa-
02743AEN
tion of the external encoder as well as the position reso-
lution.
• see section 6.1
Direct position control with absolute encoder and motor encoder

• There is a direct position control in IPOSplus® with an
Absolute absolute encoder connected via the DIP11A option.
encoder
• An incremental encoder / resolver (X15) is required at
DIP
vmax amax the motor for speed feedback.
GO Wait ...
- • There is an automatic slip compensation between incre-
Profile + Position +
generator control n control mental encoder / resolver of the motor and the absolute
-
IPOSplus®
encoder.
nact.
program • Positioning commands, e.g. "GOA ..." , are executed in
M IPOSplus® in reference to the source actual position
(here: absolute encoder (DIP)).
01886AEN
• The actual control dynamic that can be accomplished
depends on the properties and the mechanical installa-
tion of the absolute encoder as well as the position
resolution..
• see “Positioning with DIP11A absolute encoder“
manual
2 Position detection and
positioning
Position control with incremental encoder on motor,

processing of absolute encoder position in IPOSplus® program
• There is a position control in IPOSplus® with the motor
Absolute encoder connected to X15.
encoder
System • An incremental encoder / resolver (X15) is required at
DIP
variable vmax amax the motor for speed feedback.
• The high control dynamic of the inverter can be used
GO Wait ... Profile Position +
JMP H ...
+ directly for positioning.
generator control n control
- -
IPOSplus® • The position information of the absolute encoder is
Posact. nact.
program automatically entered into an IPOSplus® variable and
M can be processed via program control.
01887AEN • Reference travel is redundant by using the DIP11A
option.
• see “Positioning with DIP11A absolute encoder“
manual
Processing of absolute encoder position in IPOSplus® program

• The position information of the absolute encoder is
Absolute automatically entered into an IPOSplus® variable and
encoder can be processed via program control.
System
DIP • This DIP11A option can be used to replace applications
variable
in which the positioning was executed with rapid speed/
creep speed via several initiators.
nsetp. • No incremental encoder / resolver (X15) is required at
IPOS plus® the motor for speed feedback, a standard asynchronous
program
motor can be used.
M • see “Positioning with DIP11A absolute encoder“
01888BEN manual
Creating, Activating, Storing 3
and Loading Programs
3 Creating, Activating, Storing and Loading Programs

Help function: Help texts can be displayed for all selected program commands, system
variables and parameters by pressing function key F1.
For help when editing programs: Main menu "Help",
"Key assignment" menu item whilst the program window is active.
3.1 Creating programs

Program editor
A PC with the MX_SHELL user interface is required for creating programs. It is only possible to
enter IPOSplus® command lines when the "Program" window is open and active. The "Program"
window is opened using the "IPOS" / "Program" menu item. The top line ① of an active window
appears in a different color to indicate it is an active window. The bottom line ② displays the func-
tion keys available for the active window.
The bottom line of the visible program ③ shows the program line number of the selected line. The
percentage value following it shows the program memory usage.
À
Á
Ã
Â
01357BEN
Fig. 1: Program window
The program header ④ comprises the first three lines of the "Program" window. The values for the
user travel units NUMERATOR, DENOMINATOR and DIMENSION are entered in the first two lines

( Sec. 5.1). The values in the program header can be selected with the tab key in order to be
edited. The changes are then confirmed by pressing the enter key.
The third line displays the operating states of the task 1 and task 2 user programs:
• START (program is running);
• P-STOP (program execution stopped);
• BREAK (program is only processed as far as the selected line);
• STEP (program is processed line-by-line by pressing the F7 key).
3 Creating, Activating, Storing
Inserting command lines

Press the insert key with the "Program" window active to call up the selection table of command
groups.
It is possible to access the required commands by selecting the command groups or by entering
the first few letters of the command.
01358AEN
Fig. 2: Selection window for commands
An input screen opens when you select a command. Press the tab key to jump from text box to text
box. Navigate within these text boxes by pressing the arrow keys. Press the enter key to transfer
the selected arguments into the command. Numbers are entered using the number keys.
Once all arguments have been entered into the command, the command line is added to the user
program by pressing the enter key. The line is added above the line which is selected. Press the
delete key to delete selected command lines.
01359AEN
Fig. 3: Input screen for commands
Copying, moving and deleting command lines as a block

Blocks of commands can be selected by pressing <Shift> + <Cursor Up/Down> and inserted or
deleted by pressing <Ctrl> + <Insert> or <Delete>. Press <Shift> + <Insert> to move selected com-
mand lines.
Inserting complete programs

Complete programs can be inserted into an open IPOS program starting from the current cursor
position. Do this by calling up the program in offline mode using the [Load file] menu item and
confirm using [Insert at cursor].
Renumbering jump flags

Pressing <Ctrl> + <F3> causes the jump marks to be renumbered in ascending order.
Creating, Activating, Storing 3
3.2 Saving/loading programs
Program
window MX_SHELL
Copy
MDX
d
--
(P807 > DBG
loa
E Q
Up
)
d
lo a
Copy
F3
DBG
wn
-->
Communication: offline
Save to new file
Save file
DBG11A (P806 MDX
Do
Load file
) ter e
F2
i n ver offlin
t o n :
ve tio
Sa unica er
m ert
EEPROM
Co
m
d inv
a
Save to inverter Lo
EEPROM
Communication:
online simulta-
neous Load file
Load inverter Communication: online
selectable Save file
Save to new file
Inverter
MOVIDRIVE® File
01336BEN
Fig. 4: Saving and loading IPOSplus® programs
A user program programmed using IPOSplus® only runs on a MOVIDRIVE® inverter. To do so, it
must be transferred to the inverter first. Once the program has been transferred successfully (a
window with a transfer bar appears briefly), it is immediately stored in the non-volatile memory of
the inverter.
IPOS programs can also be transferred from one MOVIDRIVE® to another MOVIDRIVE® using the
DBG11A operator panel. This is done using parameters P807 (Copy MDX DBG) and P806 (Copy

DBG MDX).
Note: Remark lines in the user program are not saved in the inverter. Therefore, the recommended
course is to save the user program to a PC first.
Saving/loading user programs from/to a PC/inverter:

The following table shows how user programs can be loaded/saved:
Program Communi-
Command Source Target
window cation
UPLOAD (F3) Active Online Inverter Program window
DOWNLOAD (F2) Active Online Program window Inverter
Load inverter - Offline Inverter PC
Save to inverter - Offline PC Inverter
Load inverter - Online Inverter to be selected Current inverter
Save to inverter - Online Current inverter Inverter to be selected
Load file - Offline File Program window
Save (to new) file - Offline Program window File
Load file - Online File Inverter, program window
(simultaneously)
Save (to new) file - Online Program window, inverter File
(option)
Table 1: Loading/saving programs
3 Creating, Activating, Storing
3.3 Starting/stopping programs

A user program has to be transferred to the inverter before it can be started. If positioning com-
mands are to be carried out in the user program, parameter P700 (Operating modes) must be set
to the required operating mode "& IPOS".
Function Key Description
START <F9> Press the F9 key (RUN) whilst the "Program" window is active to start the user program.
The display in the header of the "Program" window changes from "Task 1: P-STOP" to

"Task 1: START". Task 2 is started using a programming command ( Sec. 4.5). Once
the program has been started using the F9 key, it is automatically run through continu-
ously. In the event of a power outage and failure of the 24 V backup voltage, processing
of the program is automatically restarted in program line 1 as soon as the voltage is
applied once again.
P-STOP <F8> Pressing the F8 key (P-STOP) causes the program to stop. The drive does not come to a
standstill; any positioning task will be completed. If the F9 key is pressed to start the pro-
gram, processing of the program continues in the line where it was stopped.
A/P-STOP <F5> The F5 key (A/P-STOP) causes the program to be stopped. The program is reset and the
drive is brought to a halt. Processing of the program starts from line 1 if the program is
started with the F9 key.
Table 2: Starting/stopping programs
Diagnosis options in task 1

When the user program in task 1 is running, a program pointer in the "Program" window to the left
of the command lines displays the command line which is about to be processed.
Function Key Description
STEP <F7> The user program can be processed in individual steps by pressing the F7 key (STEP).
The program changes to P-STOP status once a program line has been processed.
GOTO CURSOR <F4> Pressing the F4 key (GOTO CURSOR) causes the user program to be processed only as
far as the selected line.
Table 3: Diagnosis options in task 1
With the DBG11A keypad

Task 1 can be started and stopped using the DBG11A keypad (P931) and the status of task 2
(started/stopped) can be displayed (P932).
Parame-
Function Description
ters
Start/stop task 1 P931 Task 1 is started or stopped.
Display task 2 P932 Displays whether task 2 has been started or stopped.
IPOSplus® Programming 4
4 IPOSplus® Programming
4.1 Basic information
Programs are entered via screens (see Sec. 3). Entry of IPOSplus® user programs is exclusively
possible with the MX_SHELL user interface.
The user program can be up to 800 program lines long.
Program header:
It is only necessary to define user travel units in the program header of user programs in which

positioning commands are used ( Sec. 5.1).
Task 1 / Task 2:
The IPOSplus® positioning and sequence control permits a user program to be split into 2 sub-
routines (task 1 and task 2) which can run in parallel and independently of one other.

( Sec. 4.5).
Remarks:
Remarks can be inserted anywhere in the user program, like command lines.
Remarks can only be saved on the PC; they are discarded when downloaded to the inverter.
Program branches:
Program branches are possible with jump flags (Mxx) in conjunction with jump commands
(JMPxx Mxx). Jump flags can be inserted in front of any command line. As a result, there is no
need to number the program lines.
Subroutine system:
Subroutines can be called up with a CALL command (CALL Mxx). The corresponding jump
flags (Mxx) are inserted in front of the first command in the subroutine. A subroutine ends with
a return command (RET). The return command causes program processing to jump back to the
line below the CALL command. The subsequent program lines are then processed. Nested sub-
routines are possible, but nesting depth should not exceed 16.
Safety note:
Subroutines must never be exited with a jump into a main program or into another subroutine.
Conditional exiting of the subroutine must be performed by jumping to the end (RET) of the
subroutine.
Program loops:
Program loops consist of a loop beginning (LOOPB) and a loop end (LOOPE). The number of
times the loop is processed is defined in the argument of the LOOPB command. Nested loops
are possible, but nesting depth should not exceed 16.
Safety note:
Program loops must never be exited with a jump command. Jump commands are allowed
within a program loop.
Positioning commands:
The IPOSplus® positioning control permits point-to-point positioning of the MOVIDRIVE® drive.
The IPOSplus® positioning control automatically generates a travel profile and monitors travel
performance when a travel command is being processed.
Digital and analog inputs/outputs:

Digital and analog inputs/outputs are processed through variables. Furthermore, digital inputs
can be evaluated directly by means of a jump command.
Access to system values/parameters:

The drive parameters which are listed in Sec. 7 as arguments for the GETSYS and SETSYS
commands are referred to below as system values. These system values can be used as fol-
lows:
• Reading with the GETSYS command, e.g. active current and actual speed.
• Writing with the SETSYS command, e.g. fixed setpoint and fault reset.
• System values can also be read and written using the system variables (H458 – H511).
• The MOVLNK command makes it possible to change all parameters of the directly connected
inverter or to exchange parameters with other MOVIDRIVE® inverters via SBus or RS-485.
Variables:
All variables (H0 – H511) can be read and written. The variables have a range of values from -231
– +231 - 1. Variables H0 – H127 are stored in the non-volatile memory if they are entered in the
variable list (via PC, DBG11A operator panel or fieldbus), or if they are saved in the IPOS program
with the "MEM" command. Variables H458 – H511 contain frequently used unit values which are
updated cyclically (every ms). These variables are referred to below as system variables and are
explained in more detail in Sec. 8.
Be careful when writing system variables! The effects are described in Sec. 8.
Structure of a program line

Command syntax:
<M:xx> <Command> <Argument 1> <Operator> <Argument 2> <M:yy>
jump target label;

only with jump commands
second command operator;

not with every command
operator (only with arithmetic commands)
first command operator;

appears with each command
command; defines the operation to be

executed; appears in every command line
jump address label;

may be inserted in each command line
01360BEN
Fig. 5: Structure of a program line
4.2 Digital inputs/outputs

4.2.1 Digital inputs
Direct interrogation
The terminal level of digital inputs can be interrogated in the IPOSplus®program by means of jump
commands. When doing this, it is necessary to select the terminal level (HI/LO) in the input screen
which should lead to the jump command being performed. Terminals which are going to be used
for this function must be identified with a "1" in the terminal mask. All defined terminals must have
the selected terminal level in order to fulfill the jump condition for the jump command.
Mxx: JMP HI/LO I 00 00000000 000000 , Mxx
jump target
DI00
DI05
DI10
DI17
level
01361AEN
Fig. 6: Input screen for a jump command dependent on input terminals
Example:
Jump if the signals at inputs DI03 and DI04 are high (1), otherwise the following command line is
processed:
Jump address label reserved DIO11A/DIP11A Basic unit Jump target

X22:8 ... X22:1 X13:6 ... X13:1
X60:8...X60:1
01789AEN
Fig. 7: Sample jump command dependent on terminal level
Interrogation via system variables

The terminal levels of the digital inputs of the basic unit DI00 – DI05 and the DIO11A or DIP11A
option DI10 – DI17 are cyclically replicated on the system variable H483 (INPUT LVL). In the
process, the bits of the H483 system variable are each assigned to one hardware input ( Table 4).
Bits 6 – 13 of the H483 system variable equal 0 if there is no DIO11A/DIP11A present.
Digital inputs Binary inputs option DIO11A/DIP11A Binary inputs, basic unit
Terminal X... 22:8 22:7 22:6 22:5 22:4 22:3 22:2 22:1 13:6 13:5 13:4 13:3 13:2 13:1
60:8 60:7 60:6 60:5 60:4 60:3 60:2 60:1
Terminal designation DI17 DI16 DI15 DI14 DI13 DI12 DI11 DI10 DI05 DI04 DI03 DI02 DI01 DI00
Bits of H483 system variable 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Significance 213 212 211 2 10
29 28 27 26 25 24 23 22 21 20
Table 4: Assignment of H483 system variable to digital input terminals
The digital inputs in the IPOSplus® program can be interrogated through the value of variable
H483. This is useful for interrogating inputs via which a binary-coded value is to be transferred,

e.g. for selecting a table position ( example in Table 5).
Example: Read inputs Binary inputs, basic unit
Terminal X... 13:6 13:5 13:4 13:3 13:2 13:1
Terminal designation DI05 DI04 DI03 DI02 DI01 DI00
Significance 25 24 23 22 21 20
Terminal level 1 0 0 0 1 1
Weighting 1 25 0 24 0 23 0 22 1 21 1 20
Variable value H483 32 + 0 + 0 + 0 + 2 + 1 = 35*
* If all input terminals of the DIO11A/DIP11A are at 0 level.
Table 5: Example of transmitting a binary coded value via input terminals
If only particular inputs are to be evaluated, e.g. the first input of the DIO11A option, one way of

achieving this is to combine the BMOV and JMP commands ( Sec. 4.2.2 for additional expla-
natory information).
4.2.2 Digital outputs

Reading digital outputs:
The terminal levels of the digital outputs of the basic unit DB00 – DO02 and the DIO11A or
DIP11A option DO10 – DO17 are cyclically replicated on the system variable H482 (OUTPUT
LVL). In the process, the bits of the H482 system variable are each assigned to one hardware

output ( Table 6).
Binary outputs,
Read digital outputs Binary outputs option DIO11A
basic unit
Terminal X... 23:8 23:7 23:6 23:5 23:4 22:3 23:2 23:1 10:7 10:4 10:3
61:8 61:7 61:6 61:5 61:4 61:3 61:2 61:1
Terminal designation DO17 DO16 DO15 DO14 DO13 DO12 DO11 DO10 DO02 DO01 DB00
Bits of the H482 system variable 10 9 8 7 6 5 4 3 2 1 0
Significance 210 29 28 27 26 25 24 23 22 21 20
Table 6: Assignment of H482 system variable to digital output terminals
The individual terminal levels of digital outputs can be evaluated with the BMOV command in the
IPOSplus®program. The BMOV command copies a bit from system variable H482 (OUTPUT LVL)
to any bit position (significance) of another variable. The terminal level of output DO02 is inter-
rogated using the following sample program. To do this, bit 2 of system variable H482 is copied
to bit 0 (significance 20) of H200. This makes it easy to interrogate (0 or 1) the terminal level
with a JMP command.
SET H200 = 0
BMOV H200.0 = H482.2
JMP H200 == 1 ,Mxx
Alternatively, individual or several terminal levels of digital outputs can be filtered out by a logical

operation with system variable H482 (OUTPUT LVL) ( Sec. 7.2 AND command). The terminal
level of output DO02 is interrogated using the following sample program:
M1 :SET H200 = 4
AND H200 & H482
JMP H200 == 4 ,M1
AND operation of H200 and H482

H200 = 4 = 00000000100 (= DO02)
H482 = 11011100110 (= current status of the digital outputs)
Result 00000000100 (= the jump is performed because H200 = 4)
Setting the digital outputs:

Pre-requisite for setting the outputs: the parameters of the binary outputs (parameter 620,
621, 630 – 637) must be set to "IPOS OUTPUT".
Digital outputs are set with the system variables:
H 480 (OPT. OUT IP) for the DIO11A/Dip11A option (DO10 – DO17)
H 481 (STD. OUT IP) for the basic unit (DO01 and DO02)
(The setting of DB00 is fixed at "/Brake".)
Setting individual outputs

The BSET and BCLR commands are used for setting/resetting individual outputs. The bit num-
ber corresponding to the terminal must be entered as a factor in the command mask in order to
do this. The example below, output DO12 of the DIO11A option is to be set to "1":
System variable Factor Terminal level

01793AEN
Fig. 8: Example for setting output DO12
Survey of commands and parameters for setting/resetting digital outputs:

Output Set (1-level) Reset (0-level) Parameter on "IPOS OUTPUT"
DO00 - - Fixed setting at "/Brake", i.e. cannot be programmed
DO01 BSET H481.1 = 1 BCLR H481.1 = 0 P620
DO02 BSET H481.2 = 1 BCLR H481.2 = 0 P621
DO10 BSET H480.0 = 1 BCLR H480.0 = 0 P630
... ... ... ...
DO17 BSET H480.7 = 1 BCLR H480.7 = 0 P637
Table 7: Commands for setting digital outputs
Setting several outputs

It is possible to set several digital outputs at the same time, e.g. for outputting a binary coded
table position number. This is done by writing the decimal value of the table position number to
system variables H480 or H481.
It only makes sense to do this if the outputs parameterized with "IPOS OUTPUT" are exclusively
used for this purpose.
Assignment of H480 / H481 system variables to digital output terminals:

Binary outputs, basic
Set digital outputs Binary outputs, DIO11A/DIP11A option H480
unit H481
Terminal X... 23:8 23:7 23:6 23:5 23:4 22:3 23:2 23:1 10:7 10:4 10:3
61:8 61:7 61:6 61:5 61:4 61:3 61:2 61:1
Terminal designation DO17 DO16 DO15 DO14 DO13 DO12 DO11 DO10 DO02 DO01 DB00
Bits of the system variable 7 6 5 4 3 2 1 0 2 1 0
Significance 27 26 25 24 23 22 21 20 22 21 20
Table 8: Assignment of H480 / H481 system variables to digital output terminals
Example:
Outputting table position number 11 via DIO11A ("11" requires 4 outputs so outputs DO10 –
DO13 are needed):
SET H480 = 11
All digital outputs whose parameters are set to "IPOS OUTPUT" are reset by writing "0" to
system variables H480 and H481.
SET H480 = 0 Reset the outputs of the DIO11A option
SETH481 = 0 Reset the outputs of the basic unit
4.3 Analog inputs/outputs

Analog inputs/outputs Inputs Outputs
Basic unit DIO11A option

Input/output AI1 AI2 AO1 AO2
Terminal designation AI11 AI12 AGND AI21 AI22 AGND AOV1 AOC1 AGND AOV2 AOC2 AGND
Terminal X... 11:2 11:3 11:4 20:1 20:2 20:3 21:1 21:2 21:3 21:4 21:5 21:6
Table 9: Survey of the analog inputs/outputs
Analog inputs AI1 and AI2 are differential inputs. The inputs/outputs can either be used as

voltage or current inputs/outputs ( MOVIDRIVE® System Manual).
Value range Variable value

-10 – 0 – +10 V -10,000 – 0 – +10,000
0 – +20 mA 0 – +10,000
4 – +20 mA 2000 – +10,000
Table 10: Assignment of value ranges to variable values
The assignment of value range to variable value for analog outputs is only valid if the scaling
factor is set to 1.
Reading analog inputs/outputs:

The status of the analog inputs/outputs of the basic unit and the DIO11A terminal expansion
board can be written to freely selectable variables using the GETSYS command. The variable is
entered into the GETSYS command first, followed by the system value (here: ANALOG INPUTS
/ OUTPUTS).
The first input/output is written to the variable entered in the GETSYS command (Hxxx) whilst
the second is written to the subsequent variable (Hxxx + 1).
Command: GETSYS Hxxx = ANALOG INPUTS / ANALOG OUTPUTS
Setting analog outputs:

Precondition for setting: The corresponding analog output must be set to "IPOS OUTPUT"
(P640 and 643).
The analog outputs are set using the H479 (ANA.OUT IP) system variable.
Command: SET H479 = K (K = any constant within the aforementioned value range)
4.4 Brief introduction to IPOSplus® programming by way of examples
4.4.1 Sample program "Control"

This sample program is intended to switch digital output DOØ2 on and off every 2 seconds.
Quick-start (example):
Pre-requisites:
Mains connection and/or 24 V supply (backup voltage terminals X10:9 (+24 V / VI24) and X10:10
(0 V / DGND)) connected; no need to connect the motor and encoder (no motor movement).
1. There is no need to start up the speed control.
2. Set the parameters of the inputs/outputs:
P621 Binary output DOØ2
IPOS OUTPUT
3. Open/activate the "Program" window and enter the sample program "Output DOØ2 (X13:3)

flash" ( Sec. 3.1).
Program header
Start of program
Comment
Comment
Comment
Set output DOØ2 (X13:3) low
Wait 2 seconds
Set output DOØ2 (X13:3) high
Wait 2 seconds
End of program / jump to start of program
01338BEN
Fig. 9
4. Download the sample program from the program window (PC) to the program memory in the
inverter:

Press "F2" whilst the program window is active ( Sec. 3.2).
5. Start the sample program:

Press "F9" whilst the program window is active ( Sec. 3.3).
6. Check the user program:
– The task 1 display in the program header changes from P-STOP to START.
– The program pointer moves in the program window.
– The level of output terminal DOØ2 in display parameter P052 changes between 1 and 0
every two seconds.
4.4.2 Sample program "Positioning"

This sample program is intended to position the drive 10 motor revolutions CW and CCW alter-
nately every 2 s.
Quick-start (example):
Pre-requisites:
• Inverter / motor/ encoder connected.
• Inverter started up in accordance with the MOVIDRIVE® System Manual in VFC-n-CTRL& IPOS,
CFC & IPOS or SERVO & IPOS (P700) operating mode.
• Check the hardware limit switches of the EMERGENCY OFF circuit.
1. Parameter setting:
NUMERATOR (program header)
4096 (Sec. 5.1)
DENOMINATOR (program header) 1
DIMENSION (program header) rev.
P600 Binary input DI01
ENABLE / STOP
NO FUNCTION
NO FUNCTION
/LIM. SWITCH CW
/LIM. SWITCH CCW
P700 Operating mode
VFC-n-CTRL& IPOS / CFC & IPOS / SERVO & IPOS
2. Enter sample program "10 motor revolutions forwards and backwards" ( Sec. 3.1).
Program header
Start of program
Comment
Comment
Comment
Travel relative 10 motor revs. CW
Wait 2 seconds
Travel relative 10 motor revs. CCW
Wait 2 seconds
End of subroutine
End of program / jump to start of program
01339BEN
Fig. 10: Sample program "10 motor revolutions forwards and backwards"
3. Download the sample program:

Press "F2" whilst the program window is active ( Sec. 3.2)
4. Enable the inverter by applying a 1-level to terminals DIØØ (X13:1), DIØ1 (X13:2), DIØ4
(X13:5) and DIØ5 (X13:6).
5. Start the sample program:

Press "F9" whilst the program window is active ( Sec. 3.3)
6. Check the sample program:
– The task 1 display in the program header changes from P-STOP to START ( Sec. 3).
– The motor moves 10 revolutions CW or CCW alternately every 2 seconds.
– The change of position can be tracked in display parameter P003.
4.5 Task 1 and task 2

The IPOSplus® control permits a user program to be split into 2 subroutines (task 1 and task 2)
which can run in parallel and independently of one other.
Task 1 and task 2 have the same set of commands. They also possess identical access options to
variables (H0 – H511) and unit parameters.
Differences between task 1 and task 2
Task 1:
• Command processing time 1 ms/command
• Start address always line 1
• Program start with F9 START; program stop with F8 P-STOP or F5 A/P-STOP
• Diagnosis options in single step mode (F7 STEP), processing up to the selected line (F4
GOTO CURSOR) and program pointer display
• Programmable interrupt, to be triggered by a fault, touch probe, timer and cyclically
Task 2:
• Command processing time 0.5 ms/command
• The start address is defined in task 1 using the TASK2 START Mxx command
• Processing of task 2 can only be started and stopped in task 2 using the TASK2 START
“jump flag“ in Task 1. Task 2 can be stopped in Task 1 or Task 2. Both tasks will be stopped
via the function keys F5 A/P-STOP or F8 P-STOP.
• No interrupt possible
Useful division between task 1 and task 2
A user program should be divided between task 1 and task 2 in accordance with the following
criteria:
Task 1:
• Initialization of variables and parameters (because task 1 starts first and from line 1)
• Program sections which are less time-critical, e.g. positioning commands extended with
WAIT
• Program sections which are processed depending on events, e.g. response to a unit fault,
touch probe signal, terminal level, etc.
Task 2:
• Time-critical program sections
• Program sections which are to be processed cyclically
• Program sections which are to be processed in parallel with and independently of task 1
In order to guarantee cyclical processing, no positioning commands in task 2 should be extend-

ed with WAIT because the processing of the program would stop in the positioning line with the
WAIT command in the event of a drive malfunction.
Creating a user program with task 1 and task 2
1. Determine which tasks are to be processed in task 1 and which in task 2.

2. Structure the program in further subroutines and specify the variables used for the individual
program sections.
3. Step-by-step programming and testing of the individual program sections.
4.
Initially test task 2 in task 1 by calling it up with a CALL command ( Fig. 11). This gives you
the full range of diagnosis options for the program section which is going to be used as task 2
later on (single step mode (F7 STEP) or processing down to the selected line (F4 GOTO CUR-
SOR)).
5. Task 2 should be tested as a subroutine of task 1 before it is activated using the TASK2 START
Mxx command.
01746AEN
Fig. 11: Left: Test program with CALL / Right: Final program with task 2
IPOSplus® Parameters 5
5 IPOSplus® Parameters
The default setting is printed in bold type in the setting range.
5.1 Setting the user travel units

The travel distance factors "NUMERATOR/DENOMINATOR" and "DIMENSION" for determining the
user travel unit (e.g. mm, rev., ft.) are entered in the program header. The values in the program
header can be selected with the tab key in order to be edited. The changes are then confirmed by
pressing the enter key.
5.1.1 Travel distance factors NUMERATOR/DENOMINATOR

The conversion is defined by the following formula:
NUMER. User travel unit

Increments = --------------------
-
DENOM.
Internally, IPOSplus® always calculates with 4096 increments/motor revolution. The user may wish to
program travel commands in user units other than increments/motor revolution (e.g. mm, revs., ft.).
In this case, the "NUMERATOR" and "DENOMINATOR" travel distance factors must be set as described
below. One exception to this is travel commands involving variables which are not supported by
numerator/denominator factors. These can only be specified in increments/motor revolution.
Travel distance factor NUMERATOR:

Number of increments which the motor moves in order to travel a defined distance.
Adjustment range: 0 – 1 – 231 - 1
Travel distance factor DENOMINATOR:

The defined distance expressed in user travel units.
Adjustment range: 0 – 1 – 231 - 1
Note:
If the numerator or denominator are non-integer values, the conversion can be made more accu-
rate if both numerator and denominator are multiplied by the same expansion factor (e.g. 10, 100,
1000, etc.). This expansion does not limit the maximum travel range.
Example:
The units listed below are to be used for programming the following drive:
a) mm on the linear axis
b) Increments
c) Output shaft revolutions
Drive d = 100 mm x [mm]
Motor Gear ratio = 4
MD0064AD
Fig. 12
a) mm (the defined distance for the calculation is one motor revolution)

Travel distance factor NUMERATOR = Inc./motor rev. × gear ratio i = 4096 × 4 = 16384
Travel distance factor DENOMINATOR = Output diameter × = 314.15926
The travel distance factor DENOMINATOR is not a whole number, i.e. accuracy of conversion can
be increased by means of an expansion factor. The expansion factor should be as large as possible,
although the result may not exceed adjustment range (expansion factor in this example: 100,000).
Travel distance factor NUMERATOR = 16384 × 100000 = 1638400000

Travel distance factor DENOMINATOR = 314.15926 × 100000 = 31415926
b) Increments
Travel distance factor NUMERATOR = 1
Travel distance factor DENOMINATOR = 1
c) Drive revolutions
Travel distance factor NUMERATOR = Inc./motor rev. × gear ratio i = 4096 × 4 = 16384
Travel distance factor DENOMINATOR = 1
Practical information for determining the travel distance factor during commissioning
For example, setting the user travel units in mm
1. Set both the travel distance factors NUMERATOR and DENOMINATOR to the value 1:
User travel units = Increments
2. In manual mode, move any number of user travel units (in this case, increments), e.g.
100,000 increments.
3. Measure the distance covered on the system in point 2, e.g.:
Starting position = 1000 mm,
Target position = 1453 mm,
Distance covered = 453 mm.
4. Enter the travel distance factors in the machine parameters:
Travel distance factor NUMERATOR = 100000,
Travel distance factor DENOMINATOR= 453.
5.1.2 UNIT
All travel distance information is displayed with the same designator in the "Program" window.
This designator can be entered in the program header for UNIT. It can be up to five characters in
length.
Note: This entry is purely symbolic and does not have any effect on the function of the drive.
5.2 P90_ IPOS reference travel

General information
Reference travel is required in order to establish a reference point (machine zero) for all absolute
positioning operations. IPOSplus® provides 8 difference types of reference travel for this purpose.
They differ in their initial search directions and the switching contacts used for referencing (refer-
ence cam or limit switch).
Normally, limit switches are used for limiting the travel range in applications involving linear move-
ment. During reference travel, the limit switches serve as reversal contacts, i.e. reference travel is
continued in the opposite direction if the reference point has not been detected yet.
To evaluate the signal of the reference cam, a binary input of the MOVIDRIVE® has to be pro-
grammed with the "REFERENCE CAM" function. The length of the reference cam and the reference
speeds must be selected so the drive can reliably decelerate to the slower reference speed (refer-
ence speed 2) on the reference cam. The end of the reference cam or the closest zero pulse of the
encoder system can be used as the reference point. The drive stops when it reaches the reference
position and is subject to position control.
Reference position: End of the reference cam or the closest zero pulse of the encoder system
• It is recommended that the zero pulse of the encoder system be selected as the reference posi-
tion if the reference cam is not precise as a result of age and wear or switching hysteresis.
• If the zero pulse is used and it is located exactly at the end of the reference cam, the switching
transition of the reference cam may be detected either before or after the zero pulse (switching
hysteresis). The result may be a reference position which varies by a motor revolution from one
occasion to the next. The situation can be remedied by shifting the reference cam (by about half
a motor revolution).
• There are applications in which the zero pulse of the encoder is unfavorable for use as a refer-
ence point for system-specific reasons. With uni-directional drives in one direction (e.g. a rotary
table) with non-integer reduction ratios, there is no fixed relationship between the reference cam
and the zero pulse of the encoder. As a result, the end of the reference cam should be selected
as the reference position in this case.
Reference travel can be started either by a programmable input terminal (REF. TRAVEL START) or
by a GO0 command in the user program. The argument of the GO0 command can be used for
specifying the different variants.
Once started, reference travel will be completed, even if the request for reference travel is revoked.
The 7-segment display changes to "c" at the start of reference travel and returns to "A" (position-
ing) when the reference travel is completed. An output which has been parameterized to "IPOS
REFERENCE" remains set for as long as the axis has not lost the machine zero (voltage OFF).
The reference travel can be interrupted with “/controller inhibit,“ while a new enable command will
continue the reference travel. Activating the reference travel as a waiting command (GO0.., W, ..)
during interrupt with “/controller inhibit“ will result in error message F39 (reference travel).
P900 Reference offset

Reference offset makes it possible to move the machine zero without physically altering the posi-
tion of the reference position. The following formula applies:
Machine zero = Reference point + Reference offset
During reference travel, the drive moves to the reference position, stops and remains there. The
machine zero is not calculated until after reference travel using the reference position and offset.
The reference offset is stated in user travel units.
Adjustment range: -231 – 0 – +231 - 1
P901 Reference speed 1

The speed value with which reference travel takes place before the reference cam is reached. The
direction of rotation is defined by the type of reference travel.
Adjustment range: 0 – 200 rpm – 5000 rpm
P902 Reference speed 2

The speed value with which movement to the reference position takes place after the reference cam
has been reached. The direction of rotation is defined by the type of reference travel.
Adjustment range: 0 – 50 rpm – 5000 rpm
P903 Reference travel type

Explanation of the reference travel type illustrations
Starting point for the drive:
➀ Between the reference cam and the CW hardware limit switch
➁ On the reference cam
➂ Between the reference cam and the CCW hardware limit switch
VRef1 = Reference speed 1
VRef2 = Reference speed 2
Reference position cam: Movement to this position takes place when the argument of the GO0 ref-
erence travel command contains CAM.
Reference position zero pulse: Movement to this position takes place when the argument of the
GO0 reference travel command contains ZP (zero pulse).
Type 0: Reference travel on zero pulse, reference position is the current position (CAM) or
the zero pulse to the left of the current position (ZP)
(no reference cam is necessary)
Machine zero = CCW zero pulse of the current position + reference offset
3
2
VRef1 1
*2
VRef2 reference offset
*1 actual drive
position
machine reference
CCW LS position ZP CW LS
zero point
s
01254BEN
Fig. 13: Reference travel type 0
Type 1: The reference position is the left-hand end of the reference cam (CAM) or the first
zero pulse to the left of the reference cam (ZP)
3
VRef1
2 1
*2
}
reference
VRef2
offset
}
*1 reference
position CAM
machine zero
point reference
LS CCW Refcam LS CW
position ZP
01255BEN
*1 = Reference offset for reference travel with zero pulse (ZP)

*2 = Reference offset for reference travel without zero pulse (reference position cam, CAM)
Type 2: The reference position is the right-hand end of the reference cam (CAM) or the first
zero pulse to the right of the reference cam (ZP)
1
VRef1
3 2
*2
}}
reference
VRef2
offset
reference *1
position CAM
machine zero
reference point
LS CCW Refcam position ZP LS CW
01256BEN
Type 3: The reference point is the first zero pulse CCW of the CW limit switch (ZP, no reference
cam is necessary. The CAM argument must not be set in the GO0 command because the
drive might be located in the switching hysteresis of the limit switches.)
1
2
VRef1 3
VRef2 *1
}
reference
offset
reference
LS CCW machine zero point position ZP LS CW
s
01257BEN
Type 4: The reference point is the first zero pulse CW of the CCW limit switch (ZP, no reference
cam is necessary. The CAM argument must not be set in the GO0 command because the
drive might be located in the switching hysteresis of the limit switches.)
3
2
VRef1 1
VRef2 *1
}
reference
offset
reference machine zero point

LS CCW position ZP LS CW
01258BEN

Type 5: No reference travel, the reference position is the current position (CAM, ZP)
Machine zero = current position (no reference to zero pulse) + reference offset
3
2
reference offset 1
VRef1 *1
VRef2 current position

of the drive
LS CCW machine zero point LS CW
s
00018CEN
Type 6: The reference position is the left-hand end of the reference cam (CAM) or the first
zero pulse to the left of the reference cam (ZP),
the reference cam and the CW hardware limit switch must be flush or overlapping
to guarantee that no contact is made with the hardware limit switch during reference travel.
3 2
VRef1
}*2
reference
VRef2
offset
}
*1 reference
position CAM
reference
LS CCW machine zero position ZP Refcam LS CW
point
s
01466BEN
Type 7: The reference position is the right-hand end of the reference cam (CAM) or the first
zero pulse to the right of the reference cam (ZP),
the reference cam and the CCW hardware limit switch must be flush or overlapping
to guarantee that no contact is made with the hardware limit switch during reference travel.
2 1
VRef1
*2
}
reference
VRef2
offset
reference
}
position CAM *1
reference machine zero

LS CCW Refcam position ZP LS CW
point
s
01467BEN

5.3 P91_ IPOS travel parameters

P910 Gain X controller
Setting value for the P controller of the IPOSplus® position control loop. The start-up function of
MX_SHELL sets P210 (P gain hold controller) and P910 calculated with the input values to the
same value. They can each be altered to different values later on.
Adjustment range: 0 – 0.5 – 32
P911/912 Positioning ramp 1/2

Ramp time for positioning operations. When the ramp function is LINEAR, positioning ramp 1 is
used for acceleration and positioning ramp 2 is used for deceleration. Positioning ramp 1 is used
for acceleration and deceleration with the ramp functions SINE and SQUARED.
The entered ramp time refers to a change of speed of 3000 rpm.
Adjustment range: 0.01 s – 1.0 s – 20.0 s
P913 Travel speed CW

Speed for CW positioning. The travel speed is entered in revolutions per minute and must not be
greater than the maximum speed of the motor.
Adjustment range: 0 rpm – 1500 rpm – 5000 rpm
Note: Parameter 913 must always be set 10 % lower than parameter 302 (maximum speed 1) in
order to avoid lag errors (positioning reserve for the position controller)!
P914 Travel speed CCW

Speed for CCW positioning. The travel speed is entered in revolutions per minute and must not be
greater than the maximum speed of the motor.
Adjustment range: 0 rpm – 1500 rpm – 5000 rpm
Note: Parameter 914 must always be set 10 % lower than parameter 302 (maximum speed 1) in
order to avoid lag errors (positioning reserve for the position controller)!
P915 Speed feedforward

Parameter P915 is only in effect when the "LINEAR" ramp function is set (P916)!
It is possible to achieve smoother acceleration by means of the speed feedforward parameter
(P915), however only if the speed control loop has a low-rigidity setting (start-up setting < 0.7; set-
ting with P gain speed controller (P200), time constant n-control (P201), and gain accel. feedfor-
ward (P202)). To do this, P915 must be set to a value less than 100 % (P915 does not have any
effect at 100 %). If a value less than 100 % is specified, a larger gap between position setpoint and
actual position occurs (lag distance) during a positioning operation.
This results in a soft run-in at the start and finish of acceleration.
Desired control
Speed feedforward Advantage Disadvantage
response
Positioning with mini- 100 % - Minimum travel time - Block-shaped torque characteristic
mum lag distance - Small lag distance - Hard run-in to target position
Soft run-in to target 50 % – 80 % - Soft run-in to target - Greater lag distance
position - Positioning operation takes longer
Table 11: Properties of speed feedforward
v 100 %
< 100 %
t 01748AXX
Fig. 21: Effects of parameter 915 (speed feedforward)
Adjustment range: -200 % – +100 % – +200 %
P916 Ramp type

This parameter specifies the shape of positioning ramps. It influences the speed and acceleration
during positioning.
Ramp function Positioning performance Applications
LINEAR Speed characteristic • For drivelines with low dynamic
speed The speed characteristic is trapezoi- qualities or little flexibility.
dal and is specified by positioning • High-speed positioning opera-
positioning
speed P911 P912 ramps and the positioning speed. tions with a relatively low torque
Acceleration characteristic requirement and steep ramps. The
t The acceleration characteristic – and goods being moved are subjected
acceleration
positioning ramp consequently also the force charac- to high loads from jolting (sudden
100 %
teristic – is block-shaped, i.e. very increase in torque). This is not
high forces (jolt loading). suitable for moving fluids or soft
The positioning ramp can be made masses (e.g. bottling plants).
t
smoother using the speed feedfor-
ward parameter.
SINE Speed characteristic • High-speed positioning opera-

speed The speed characteristic is a sine- tions with dynamic or flexible
positioning squared profile and is specified by drivelines.
speed the positioning ramp and the posi- The acceleration and torque are
P911 tioning speed. 55 % higher than with the linear
t Acceleration characteristic ramp. During project planning,
acceleration
Smooth acceleration with few jolts. make sure the motor and the
155 % Acceleration at the start and finish of inverter have the required torque
the ramp is very small, so it has to be (risk of lag errors).
increased in the middle (whilst
t
retaining the same ramp time as LIN-
EAR).
SQUARED Speed characteristic • Similar applications as for SINE.

speed The speed characteristic is squared The particular advantage relates
positioning and is specified by the positioning to a slight increase in torque in
speed ramp and the positioning speed. comparison to SINE. The 33 %
P911
Acceleration characteristic additional torque requirement is
t Acceleration is smoother than with usually available even in drives
acceleration
LINEAR. This ramp function is a which have been configured with
133 % compromise between torque require- a linear ramp function. In many
ments and a smooth ramp profile. cases, the effect is equivalent to
the SINE shape.
t
5.4 P92_ IPOS monitoring
P920/P921 Software limit switches

Software limit switches perform an additional safety function by defining the limits of the travel
range. Travel commands are not performed if their target position (H492) lies beyond the software
limit switches. The software limit switches do not take effect until after reference travel has been
performed.
If a drive is already in motion, it is decelerated using the emergency stop ramp. A fault message
(F78, IPOS software limit switches) is generated in both cases. The fault response is an emergency
stop followed by inhibiting of the output stage. A reset must be performed.
Reset procedure:
• 1-signal at the "reset" input
• Mains power OFF / ON (not in 24 V backup mode)
• Manual reset in MX_SHELL ("Parameter" / "Manual reset")
• Reset using IPOSplus® control word (system variable H484)
• Reset via fieldbus
Caution:
After F78 (IPOS software limit switches) has been reset, the reference point is defined. The soft-
ware limit switches are not re-activated until the drive has been referenced again!
Deactivation:
Set parameters P920 and P921 to 0 (e.g. for uni-directional operation) to deactivate the software
limit switches.
P920 SW limit switch CW

Limits the travel range in the CW direction. The value is stated in user travel units.
Adjustment range: -231 – 0 user units – 231 - 1 increments
P921 SW limit switch CCW

Limits the travel range in the CCW direction. The value is stated in user travel units.
Adjustment range: -231 – 0 user units – 231 - 1 increments
P922 Position window

The position window defines a distance range around the target position (H492) of a travel or stop
command (GOx or ASTOP TARGET POSITION). The "IPOS IN POSITION" signal is generated as
soon as the drive moves into the position window. This signal is available via a digital output which
has to be parameterized to the "IPOS IN POSITION" function. The "IPOS IN POSITION" signal is
reset immediately when a new travel command is sent.
Position window monitoring always takes place provided an operating mode with IPOS is active
(P700). The positioning accuracy is not affected by the size of the position window.
Adjustment range: 0 – 50 – 215 - 1 increments
P923 Lag error window

The lag error window defines the maximum permitted difference between the setpoint and actual
positions. F42 (lag error) is triggered if the set value is exceeded. The reaction to F42 must be set
using parameter P834 "Response DRS LAG ERROR".
Deactivation: Lag error monitoring is deactivated when P923 Lag error window is set to 0.
Adjustment range: 0 – 5000 – 231 - 1 increments
5.5 P93_ IPOS special functions

P930 Override
The override function is activated by setting P930 to ON. It makes it possible to vary the travel
speed in the range from 0 to 150 % (e.g. for start-up). Analog input AI11 (X11:2) is used for this,
and 0 to 150 % corresponds to 0 – 10 V at the analog input. However, the maximum value for the
speed is always restricted by parameter 302, "Maximum speed 1".
Adjustment range: ON • OFF
5.6 P94_ IPOS variables

P940 Editing variables
This parameter is only available in the DBG11A keypad, not in MX_SHELL.
This parameter makes it possible to edit IPOSplus® variables with the keypad. Variables H0 – H127
are stored in the non-volatile memory immediately after they have been edited using the DBG11A
keypad.
Adjustment range: ON • OFF
P941 Source actual position

This parameter determines the positioning to a particular IPOSplus® encoder:
motor encoder (X15)
external encoder (X14)
absolute encoder (DIP)
P942 Encoder factor numerator

P943 Encoder factor denominator
The ratio of both parameters describes the relationship of the motor encoder position values to
external encoder or absolute encoder (position information of the external encoder is always multi-
plied with parameter 944 and of the absolute encoder with P955).
The setting is necessary:
• to realize the plausibility check of both position values to each other (error message F95, plau-
sibility error)
• to adapt the positioning ramp and positioning speed to the absolute encoder (the derivation of
the absolute encoder information is calculated as motor actual speed)
• to correctly evaluate the start-up values (e. g.: n-feedforward, M-feedforward, filter, P-percen-
tage).
An inaccurate setting result in a deviation of positioning ramps and positioning speed. This inaccu-
racy can also result in an error message F95, plausibility error.
The calculation of P942 and P943 takes place during startup.

Setting range: 1 ... 32767
P944 Scaling external encoder

The parameter multiplies the position value from the external encoder before it is entered in the
variable H510.
The parameter is set in such a way that the travel information ratio between the motor encoder
and the external encoder is close to "1."
The parameter is not important, if no external encoder is present. It has to be set to "x 1" in such
a case.
Caution:
The encoder scaling directly influences parameter 953 "operating range," 954 "zero point offset,"
942 and 943 encoder factors "numerator" and "denominator" and the parameter group 92_
"IPOS monitoring". Any change in encoder scaling must result in resetting of all listed parame-
ters!
Setting range: x 1 / x 2 / x 4 / x 8 / x 16 / x 32 / x 64
5.7 P95_ DIP

P955 Encoder scaling
The parameter multiplies the position value of the absolute encoder before it is entered in the
variable H509.
The parameter is set in such a way that the travel information ratio between the motor encoder
and the external encoder is close to "1."
The parameter is not important, if no external encoder is present. It has to be set to "x 1" in such
a case.
Caution:
The encoder scaling directly influences parameters 953 "operating range," 954 "zero point off-
set," 942 and 943 encoder factors "numerator" and "denominator" and the parameter group 92_
"IPOS monitoring." Any change in encoder scaling must result in resetting of all listed parame-
ters!
Setting range: x 1 / x 2 / x 4 / x 8 / x 16 / x 32 / x 64
6 IPOSplus® with Options

6.1 External encoder
6.1.1 Technical Data
Input external encoder: X14: Type MDV/MDS: incremental encoder TTL (RS-422), max. 200 kHz
encoder power supply: +24 V, Imax = 180 mA
The external encoder may not deliver more than 5000 pulses.
6.1.2 Positioning on external encoder (X14)

Positioning on external encoder is intended to compensate a slip and backlash prone connection
between drive and travel distance (e.g. slipping gears or tooth flank backlash).
Pulse evaluation of external encoder
Arriving pulses (example) 2048 2048 1024 1024
quadruple evaluation (fixed) 8192 8192 4096 4096
scaling external encoder P944 (adjustable) x1 x8 x1 x2
change in counter position H510 ACTPOS. EXT 8192 65536 4069 8192
per encoder revolution
The counter of the external encoder (H510) is “0 Increments” after the power has been turned on.
After reference travel, the counter will display the value of parameter 900, reference offset, and
depending on direction of rotation, the distance of the brake ramp (emergency stop ramp) until
standstill.
6.1.3 Practical application slip compensation with external encoder

A trolley on wheels is traveling on rails. The trolley is propelled by wheels driven by a geared
motor. There is no positive connection between wheels and rail. This setup will result in slip, an
offset between the rotational movement of the wheel and the translatory movement of the trolley.
Therefore, it is absolutely necessary to determine the trolley position for positioning via motor con-
trol.
IPOSplus® with Options 6
The following MOVIDRIVE® parameters must be set:

The sequence of the parameter setting must be maintained, since P944 influences the value of
P943.
Number Designation Function Setting Range
P944 Encoder scaling Multiplication of encoder largest value that is even smaller than ratio fest definiert:
external enco- signals with set value between resolution of motor encoder and 1, 2, 4, 8, 16,
der external encoder. 32, 64
Example: Motor encoder: 4096 Inc. / ext.
encoder 800 Inc. = 5.12. value: 4.
P943 Encoder factor Denominator for determina- Number of counter increments (available max. 32767
numerator tion of relationship motor in H511 ACTPOS. MOT), for a particular
encoder to external encoder distance S
P942 Encoder factor Numerator for determination Number of counter increments (in H510 max. 32767
numerator of relationship motor encoder ACTPOS. EXT zu lesen), for a particular,
to external encoder identical distance S just as for P943
P941 Source actual Actual position value for Ext.ernal encoder X14 (selection
position IPOSplus® position controller
Tabelle 12: Parameter setting for trolley
Caution! The calculation of P210 (P-gain hold controller) during startup/commissioning has been
optimized for P941 = motor encoder. The value may have to be decreased somewhat when using
external or absolute encoders.
The following statements apply to position sensing with external encoder on X14:
Variable H510 indicates the actual position of the position control ACTPOS. EXT
Variable H506 indicates the touch-probe position 1 TP. POS1EXT
Variable H504 indicates the touch-probe position 2 TP. POS2EXT
IPOSplus® positioning:
IPOSplus® positioning is only available with a motor encoder and is connected to X15. The parame-
ter P941 SOURCE ACTUAL POSITION must be set to “external encoder.“ The travel commands of
the IPOSplus® control (GO commands) refer to position information of the external encoder con-
nected to X14. The actual position is available in variable H510 ACTPOS EXT.
6.1.4 Startup DIP with absolute encoder

The drive has to be started in connection with the MOVIDRIVE® drive inverter as described in the
MOVIDRIVE® system manual. It has to be possible to control the drive via a suitable setpoint and
control source.
Moreover, you have to ensure that:

• the installation of DIP11A
• the wiring
• the terminal assignment and
• the safety interrupts
have been implemented correctly according to the application.
The factory setting does not have to be performed. If a factory setting is called up, the MOVIDRIVE®
parameters will be reset to a basic setting. This step will also affect the terminal assignment feature
and may have to be corrected to get the desired settings.
MOVITOOLS makes it possible to have a guided startup, i.e. dialog windows will prompt you to
enter the necessary data and perform the required actions. You will have to start the MOVITOOLS
manager and establish a connection with the inverter by selecting the appropriate interface and unit
address. Run the SHELL program and begin start-up via the menu [Inbetriebnahme] / [Inbetrieb-
nahme für / DIP]. Any further details will be explained in the dialog windows.

Only the “source actual position“ ( Page 38) will have to be indicated after startup with
MOVITOOLS.
You have the option to startup the DIP11A option gradually as described below. If the fault
message F92 “DIP sensing report“ occurs, confirm it with a reset and continue with start-up
procedure. This message should not occur after successfully executing the startup process.
P950 Encoder type

P950 determines the installed encoder type. The following encoder systems are supported:
VISOLUX EDM Laser distance measuring device
T&R CE65, CE100 MSSI Encoder
T&R LE100 SSI Laser distance measuring device
T&R LA66K-SSI Linear position detector
AV1Y / ROQ 424 Encoder
STEGMANN AG100 MSSI Encoder
SICK DME-3000-111 Laser distance measuring device
STAHL WCS2-LS311 Metal linear encoder
The installed type is selected from a list of possible encoders. Other encoders must be checked
for suitability and approved by SEW-EURODRIVE.
P35_ Direction of motor rotation

Move the drive at slow speed in positive direction. If P003 actual position increases, parameter
P350 “reversal of direction of rotation“ does not have to be adjusted (display of actual position
with MX_SHELL or DBG11A). P350 will have to be adjusted, if the actual position decreases.
P951 Counter direction

Move the drive at slow speed in positive direction. If the absolute encoder position (H509 ACTPOS.
ABS) increases, the P951 parameter “Counter direction“ does not have to be adjusted. P951 must
be adjusted, if the absolute encoder position decreases.
P955 Encoder scaling

Set this parameter to “1“ if no motor encoder is present (no speed control). The position infor-
mation of the absolute encoder is multiplied with the set value. The parameter is set so that the
distance information ratio between motor encoder and absolute encoder is close to “1.“
Start out setting parameter to 1. Write down the values of variables H509 (ACTPOS. ABS) and
H511 (ACTPOS. MOT). Move the drive by approximately one motor revolution. Determine the
difference between the noted and actual values of the variables and determine the ratio.
H509old .............. – H509new ................ = H509difference..................
H511old .............. – H511new ................ = H511difference..................
difference
Quotient Q = H511 -
-----------------------------------------------------
H509 difference
Set parameter ENCODER SCALING (P955) to the value closest to the calculated ratio Q prefe-
rably to the smaller value.
P953 Position offset

The position offset (P953) must only be set for rotary encoders; set to 0 for all other encoders.
This parameter moves the jump in position of the absolute encoder to a location outside the ope-
rating range. Move the drive approximately in the center of the operating range. If the fault
message F92 “DIP sensing report“ occurs, confirm it with a reset and continue with start-up
procedure. Read out the value of variable H509 (ACT. POS. ABS) and enter the following value in
parameter “position offset” (P953):
P953 = (variable H509) – 0.5 x sensing range
sensing range = maximum position value,
e.g. 4096 revolutions x 4096 increments/revolution = 224 increments = 16777216 increments
P954 Zero point offset

The zero point offset is used to assign a desired value to particular position. The value range
can cover positive and negative position values, but you have to observe the maximum appro-
ved size. The limit is determine by the value range of the numerator (± 231) and the value range
of the absolute encoder.
Move the drive to a known position. Read out the value of variable H509 (ACTPOS. ABS) and
enter the following value in parameter zero point offset (P954):
P954 = (variable H509) – desired value
This step makes the desired value the display value at the actual position.
P942 and P943 Encoder factors

The parameters are used for the internal adjustment of the speed control and monitoring
functions in the DIP11A option.
1. Note the values of variables H509 (ACTPOS. ABS) and H511 (ACTPOS. MOT).
2. Move the drive by approximately 30 000 increments (H511).
3. Determine the difference between the noted and the new values of the variables.
H509old............. – H509new ................ = H509difference ................
H511old............. – H511new ................ = H511difference ................
4. The differences may not exceed 32 767 sein (215 – 1). In case of larger values, divide both dif-
ferences by the same number so that you are dealing with smaller values or repeat the pro-
cess with a shorter travel distance.
5. Enter the result (H511difference) in parameter ENCODER FACTOR NUMERATOR (P942) and
(H509difference) in parameter ENCODER FACTOR DENOMINATOR (P943).
Without motor encoder (no speed control via MOVIDRIVE®), we recommend at least estimating
the ratio of encoder resolution and motor revolution. The value for the motor encoder should be
set to 4096 increments per motor revolution.
Use the same method to determine the value for ENCODER FACTOR DENOMINATOR (P943).
Enter the value “4096 x number of traveled motor revolutions“ for P942.
The accuracy of the encoder factors is of little importance in this case (no speed control). The
values are only relevant for the secondary testing of the absolute values in the DIP11A option.
P941 Source actual position

This parameter determines the position encoder used for position control as long as an opera-
ting mode "... & IPOS" has been set in parameter 700 "operating mode."
IPOSplus® incorporates positioning commands to control the motor connected to
MOVIDRIVE® . If the motor positioning should be done with the absolute encoder, set the
"source actual position" to "absolute encoder DIP."
Caution: The closed-loop gain for the positioning control of the IPOSplus®, parameter 910 "gain
X-controller", was preset during startup of the speed control system. The presetting is based on
having the position control assigned to the motor encoder. The difference between encoder
resolution or the time behavior of the absolute encoder (e.g. laser distance measuring device)
may require a smaller set value.
Set half the value of the calculated presetting. Start an IPOSplus® program with one positioning
between two valid points with moderate speed. Reduce or increase the parameter 910 "gain
X-controller" gradually until the best travel and positioning behavior has been set.
The position value from the absolute encoder is available in variable H509 (ACTPOS. ABS). The
position value can be processed with the internal IPOSplus® control and without direct posi-
tioning.
6.2 IPOSplus® and Fieldbus

The expansion of IPOSplus® by adding one of the fieldbus options PROFIBUS, INTERBUS, CAN-Bus
or DeviceNet, offers additional advantages to the customer when compared with the standard
MOVIDRIVE® version without fieldbus. You will find a detailed description of the fieldbuses in the
“Fieldbus Unit Profile“ manual and in the manuals for the individual fieldbuses. The following para-
meters will usually have to be changed in order to control the MOVIDRIVE® unit via a fieldbus:
• P100 Setpoint source = fieldbus, if set values are sent via fieldbus
• P101 Control source = fieldbus, if control word is sent via fieldbus
• P870-875 Process data configuration: specification determining the data exchanged via fieldbus
(see Fieldbus Unit Profile Sec. 3.3)
Some program examples showing the connection between IPOSplus® and fieldbus have already
been described in the “Fieldbus Unit Profile” user manual in sections 7.3 and 7.4.
Incremental position preset

The set position is preset as a value in the process output data P871 PA2: POSITION HI and P872
PA3: POSITION LO. The entire travel range can be used completely be the user, i.e. random positi-
ons will be preset.
Actual position in increments
Status word 2 Position High Position Low

E Q
Process output data (PO)
Control word 2 Position High Position Low
IPOS variables:
Target position 492 TARGET POS

in increments ... 1
499 SP.POS.BUS
IPOSplus-Programm:
***************************
Copy position setpoint of PO
data to new target position
***************************
...
1 SET H492 = H499
...
END
02727AEN
Fig. 22: Incremental position preset
The unit of the destination and actual position is indicated in increments in this example. The set
position transmitted via fieldbus is automatically copied to variable H499 SP.POS.BUS. It can be
used to generate a travel command by copying variable H499 into variable H492 TARGET POS
(SET H492 = H499). The actual position of the drive can also be fed back into the control. You will
have to set the parameters for process input and output data to position high/low.
The actual position of the drive is transmitted to the control in case the parameters for process
input data P874 have been set to PE2: POSITION HI and P875 PE3: POSITION LO.
User-specific coding of process data

The user has the option to select the meaning of the cyclical process data by defining the process
data configuration with the parameter setting PO data for output data or PI data for input data. The
process output data will then no longer be evaluated directly by the MOVIDRIVE® unit, but must be
assigned to IPOS variables with the command GETSYS (PO data) and SETSYS (PI data). The deco-
ding of the variables is done in the IPOS program. The user will be able to transmit position set-
points and other values in user units (e.g. motor revolutions) by having the value transmitted with
the fieldbus adjusted in size by multiplication or division before it is used for positioning.
Actual position in motor revolutions

E Q
PI1 PI2 PI3
PO1 PO2 PO3
Target position in motor revolutions GETSYS
IPOS variables:
100 Bus type 3

101 Length 3
SETSYS 102 PO1 0
103 PO2 0
104 PO3 0
...
...
110 Length 3
111 PI1 0
112 PI2 0
113 PI3 0
IPOSplus program:
SET H100 = 3 // Initialising process output data structure

SET H101 = 3
SET H110 = 3 // Initialising process input data structure
SET H111 = 3
M0: GETSYS H100 = PO-Data // Copy PO data into IPOS variable
SET H200,H103 // Copy position into variable
MUL H200,#4096 // and convert into increments
SET H492,H200 // Stop travel order
SET H200,H511 // Copy actual position into variable in increments
DIV H200,#4096 // and convert in unit motor revolution
SET H113,H200
SETSYS PI data = 110 // Copy PI data in IPOS variable
JMP M0
END
02728AEN
Fig. 23: Scaling of position setpoint
6.2.1 Fieldbus and DIO/DIP 11A

With control word 2, the fieldbus makes it possible to emulate binary inputs and outputs. These are
often referred to as virtual terminals.
If there is no DIO/DIP11A card in the MOVIDRIVE® unit, the upper bits 8-15 of control word 2 will
directly trigger the input terminal functions of inputs DI10 to DI17. The functionality of these input
terminals can be set with parameters P610-617.
virtual output terminal 8
= P637 binary output DO17
...
virtual output terminal 1
= P630 binary output DO10
IPOS variable
15 14 13 12 11 10 9 8 0 *************
Status word 2
virtual input terminal 8
= P617 binary input DI17
... 480 OPT.OUT IP
virtual input terminal 1 ...
= P610 binary input DI10 ...
483 INPUT LVL
15 14 13 12 11 10 9 8 0
Control word 2
02729AEN
Fig. 24: Virtual terminals
If there is also one of the DIO11A or DIP11A option cards installed in the MOVIDRIVE® unit in addi-
tion to the fieldbus, the same settings of parameter P61_ apply to the physically present terminals.
Thus, all terminal-dependent commands (e.g. JMP LO/HI xxxx xxxx xxxx xxxx) apply only to the
hardware inputs and not to the control bits 8-15 in control word 2.
The upper byte of control word 2 will have to be entered with a GETSYS (PO data) command to still
make use of it. A decoding of the upper 8 bits will subsequently take place in the IPOS program.
The variable created with this step can be used as a jump distributor (JMP Hxxx == value, Mxx) or
an input terminal function selected by copying individual bits (BMOV H484.x Hxxx.x) in H484
CTRL. WORD.

= P617 binary input DI17
... IPOS variable
= P610 binary input DI10 *************
15 14 13 12 11 10 9 8 0
Control word 2
480 OPT.OUT IP
...
...
1 483 INPUT LVL
IPOSplus program:
SET H100 = 3 // Initialisation of process output data structure

SET H101 = 3
GETSYS H100 = PO data // Copy PO data in IPOS variable
1 SET H200,H102 // Copy control word 2
SHR H200 >> 8 // and move to the right by 8 bits
02730AEN
Fig. 25: Use of the upper bytes of control word 2
DIP11A can be installed in option slot 1 or option slot 2.

All parameters applying to the DIP can be set with the DBG unit.
When combining a fieldbus interface with the DIO11A input/output card or the DIP11A absolute
encoder card, you will have to pay close attention to the terminal assignment:
• Terminal assignment
The MOVIDRIVE® operating system makes it possible to assign eight binary input and eight
binary output terminals on one option card. Observe the following assignment when using the
DIP11A with an DIO11A input/output card or a fieldbus card:
Input terminals Output terminals

Functions
DIO11A DIP11A DIO11A DIP11A
Variable H483 INPUT LVL. H480 OPT.OUT IP
Terminals DIP11A with DIO11A 6 ... 13 14 ... 21 0 ... 7 8 ... 15
Bit
Place/Read with DIP11A with fieldbus – 6 ... 13 – 0 ... 7
Terminal DI10 ... DI17 DI10 ... DI17 DO10 ... DO17 DO10 ... DO17
Parameters 61.. and DIP11A with DIO11A active – active –
63.. and JMP HI/LO I... DIP11A with fieldbus – active – active
It is always possible to place and read terminals with variables, regardless of any additional
option that may be used with a fieldbus interface.
If a fieldbus interface is used together with a DIP11A option, the virtual fieldbus terminals are
only available in IPOSplus® via reading of the process output data (GETSYS Hxxx PO-DATA).
6.2.2 IPOSplus® and PROFIBUS

Four to ten cyclical process data words can be exchanged with the PLC in connection with the
PROFIBUS option. The MOVIDRIVE® parameter setting surface offers the configuration of only up
to three words (Parameter 87x). All additional process data words are permanently assigned with
the meaning PO data/PI data. MOVIDRIVE® will not interprete any process data that were set with
parameter 87x on PO/PI data. These words can only be accessed via the GETSYS and SETSYS
commands. The assignment and use of ten words can be used as an example for the following
IPOS program working with variables H100 and H120.
Status word PI Data PI Data

E Q
MOVIDRIVE signal processing
Control word PO Data ... PO Data
IPOS variables:
H102: Control word

H103: PO Data
...
H111: PO Data
...
...
H121: Status word
H122: PI Data
...
H130: PI Data
IPOSplus Program:
SET H100 = 3 // Initialisation of data structure processs output

SET H101 = 10
SET H120 = 10 // Initialisation of data structure process input
M0: GETSYS H100 = PO Data // Copy PO data in IPOS variable
SETSYS PI Data = H120 // Copy PI data in IPOS variable
JMP UNCONDITIONED, M0
02731AEN
Fig. 26: Transmission of 10 process data words
One process data word is copied in one variable, with control word and status word each counting
as one process data word. The process data word is written in bits 0 to 15 of an IPOS variable, the
bits 16 to 31 of the IPOS variables are set to 0.
6.3 IPOSplus® and Synchronous Operation

The synchronous operation option with DRS11A can be used without any modifications in connec-
tion with the DIP11A option. It is still possible to switch from positioning to synchronous operation
and vice versa via IPOSplus®.
A detailed description of synchronous operation can be found in the “Synchronous Operation Card
Type DRS11A“ manual.
The control of the DRS11A synchronous operation card within the IPOSplus® program can take
place in several different ways:
• by programming the DRS control and monitoring variables
DRS CTRL. (H476) and DRS STATUS (H477)
• by programming of the IPOSplus® CTRL. WORD (H484)
• by programming individual parameters via MOVLINK command.
6.3.1 Programming of IPOSplus® CTRL. WORD

System variable H484; CTRL. WORD
Variable H484 is the IPOSplus® control word. The word will be connected with OR to the correspon-
ding control source (terminal, RS-485, fieldbus), independent of operating mode, control and
sepoint source. The individual bits have the following meaning at level 1:
484 CTRL.WORD IPOSplus® control word (unit functions READING and SETTING).
The IPOSplus® control word can always be used independent of operating mode, control and set-
point source. The IPOSplus® control word is connected with the logical OR in the unit with the
terminal functions, the fieldbus control word and the control word via the RS-485/RS-232 and the
SBus.
Bit Function “1” level Bit Function at “1” level
0 No function 16 reserved
1 No enable 17 Reference cams
2 CW 18 Reference travel Start
3 CCW 19 Free-wheeling slave
4 n11/n21 (fixed setpoint 1) 20 Fixed setpoint suppression
5 n12/n22 (fixed setpoint 2) 21 reserved
6 Switchover fixed setpoint 22 Set DRS zero point
7 Param. switchover (param. set 2) 23 Start DRS Slave
8 Ramp switchover (ramp set 2) 24 DRS Teach in
9 Motorpoti up 25 reserved
10 Motorpoti down 26 reserved
11 External error 27 reserved
12 Error reset 28 reserved
13 Hold control 29 reserved
14 CW limit switch 30 Controller inhibit
15 CCW limit switch 31 reserved
6.3.2 Programming of DRS Control and Monitoring Variables
System variable H476; DRS_CTRL.

Variable H476 represents the binary outputs of DRS11A option:
476 DRS CTRL. Signal level of binary outputs in synchronous operation card type DRS11A READ and SET.
Bit Terminal level
0 X40.9 OUTP0
1 X40.10 OUTP1
3..14 reserved
15 set DRS hardware fault (Fault 48)
16..31 reserved
System variable H477; DRS_STATUS

Variabe H477 represents the binary inputs of DRS11A option:
477 DRS STATUS Signal level of binary inputs and status reports of synchronous operation card type DRS11A
READ.
Bit Terminal level / Status reports
0 X40.5 INP4 free input 1
1 X40.6 INP5 free input 2
2 /DRS pre-warning
3 /DRS tracking error
4 DRS slave in position
5 Master standstill
6..31 reserved
6.3.2.1 Activating und Deactivating of free-wheeling function

It is possible to set and reset two programmable DRS11A outputs via the system variable H476
DRS CTRL.
DRS
X40:
1 INPØ
2 INP1
3 INP2
Terminal level of binary 4 INP3
5 INP4
output X40.9
LED SYNC / OFF 6 INP5
7 DCOM
31 15 14 13 12 11 10 9 8 0 8 VO24
9 OUTPØ
H476: DRS_CTRL. 10
11
OUTP1
DGND
LED SYNC / OFF
X41: Incremental
IPOS Variables: encoder
Input
H476: DRS_Ctrl Synchronous
H477: DRS_Status
encoder
...
H484: CTRL_WORD
…
X42: Incremental
encoder
Input
Master
IPOSp l u s
program:
encoder
BSET H476.0 = 1 // Activate free-wheeling, red LED is illuminated
...
... X43: Incremental
...
BCLR H476.0 = 0 // Deactivate free-wheeling, red LED extinguished encoder
... Output
…
02961AEN
Fig. 27: Free-wheeling function
Prerequisites:
The DRS11A can be switched to free-wheeling via IPOSplus® and a cable connection from terminal
X40:9 (OUTP0) to X40:1 (free-wheeling).
Command sequence:
BSET H476.0 = 1 Setting OUTP0 and thus the DRS input “Free-wheeling”:
red LED illuminated!
BCLR H476.0 = 0 Reset to synchronous operation function:
red LED extinguished
6.3.2.2 DRS11A setting of zero point

The DRS11A offset angle can be reset via IPOSplus® without the need for external signals.
The setting is done via system variable H484 CTRL. WORD.
Command sequence:
BSET H484.22 = 1 Setting of DRS11A to function ’Setting of zero point’
WAIT 15 ms DRS-specific waiting period of 15 ms
BCLR H484.22 = 0 Reset to synchronous operation function with
deleted angle error; green LED extinguished.
DRS
X40:
1 INPØ
2 INP1
3 INP2
Control signal 4 INP3
5 INP4
Set DRS zero point LED SYNC / OFF 6 INP5
7 DCOM
8 VO24
31 22 13 12 11 10 9 8 0 9 OUTPØ
10 OUTP1
H484: CTRL_WORD 11 DGND
LED SYNC / OFF
The green LED is illuminated
in case of angle error X41: Incremental
IPOS variables: between master and slave. encoder
Input
H476: DRS_Ctrl synchronous
H477: DRS_Status
encoder
...
H484: CTRL_WORD
…
X42: Incremental
encoder
Input
master
IPOSplus program:
encoder
BSET H484.22 = 1 // Set zero point, angle error deleted
// green LED extinguished
WAIT 15 ms // DRS-specific waiting period for signal run time X43: Incremental
BCLR H484.22 = 0 // Reset to synchronous operation function encoder
... Output
…
02962AEN
Fig. 28: Setting zero point
Control sample:
• The drive is to be switched to free-wheeling mode via input DI10.
The input DI10 ... DI17 can be physical terminals on DIO11A or DIP11A option or virtual termi-
nals in the fieldbus control word 2.
DI10 = 1 Free-wheeling activated
DI10 = 0 Free-wheeling deactivated, drive operates in synchronous mode
• The actual offset angle is deleted (DRS setting zero point) via the virtual input DI11.
Example of program generated with IPOSplus® compiler

/*=======================================================================================
IPOS Source File
=========================================================================================*/
#include <const.h>
#include <io.h>
/*----- Definition Inputs -------------------------------------------------------------*/

#define E_freewheeling DI10 // Input DI10
#define E_setzeropoint DI11 // Input DI11
/*----- Definition Outputs -------------------------------------------------------------*/

#define A_DRS_OUTP0 0 // Output DRS X40:9
/*----- Definition Control bits in IPOS Control Word --------------------------------------*/

#define _DRS_setzeropoint 22 // Bit 22
/*=======================================================================================
Subroutines
=========================================================================================*/
Freewheeling_On()
{
/* The free-wheeling mode is activated by setting the external jumper between X40:9 and X40:0 and
by deleting of output X40:9. */
_BitSet( DRS_Ctrl, A_DRS_OUTP0 );

}
/*=======================================================================================*/
Freewheeling_Off ()
{
/* The free-wheeling mode is deactivated by setting the external jumper between X40:9 and X40:0 and by
deleting of ouptut X40:9. */

}
/*=======================================================================================*/
DRS_zeropoint()
{
_BitSet( ControlWord, _DRS_Setzeropoint ); // Set zeropoint via Control Word
_Wait( 15 ); // Response time in ms
_BitClear( ControlWord, _DRS_Setzeropoint ); // Delete bit once again
}
/*=======================================================================================
Main function (IPOS entry function)
=========================================================================================*/
main()
{
if( E_Freewheeling ) // The input E_Freewheeling (here DI10)
Freewheeling_On(); // causes the switch between
else // freewheeling and synchronous operation
Freilauf_Aus();
if( E_setzeropoint ) // Calls up the function

DRS_zeropoint(); // “Set zeropoint“
}
6.3.3 Activating and Deactivating the Offset Function

Both programmable outputs of the DRS11A can be set and reset via the system variable H476.
DRS
X40:
1 INPØ
Terminal level of binary 2 INP1
output X40.9 3 INP2
4 INP3
5 INP4
31 15 14 13 12 11 10 9 1 0 6 INP5
7 DCOM
H476: DRS_Ctrl Terminal level of binary
8
9
VO24
OUTPØ
output X40.10 10 OUTP1
11 DGND
LED SYNC / OFF
X41: Incremental
IPOS variables: encoder
Input
H476: DRS_Ctrl synchronous
H477: DRS_Status
encoder
...
H484: CTRL_WORD
…
X42: Incremental
encoder
Input
master
IPOSplus program:
encoder
BSET H476.1 = 1 // Set drive in Offset1 function
… // Slave drive shifts its position to master
// by Offset 1 value. X43: Incremental
...
... encoder
BCLR H476.1 = 0 // Deactivate Offset1 Output
...
…
02963AEN
Fig. 29: Offset function
Prerequisite:
A position offset can be injected via IPOSplus® and a cable connection of terminal X40:10 to X40:2
(Offset1).
Command sequence:
BSET H476.1 = 1 Set drive to “Offset1” function
Slave drive shifts its position to master by Offset1 value.
BCLR H476.1 = 0 Reset of output terminal
Slave drive returns to previous position in relation to master.
6.3.4 Sample program for switch between positioning and synchronous operation
The “free-wheeling“ function provides the option of a speed-controlled interruption of the synchro-
nous operation mode. However, the drive cannot travel in a position-controlled manner to a fixed
position in this function.
This step requires a change to the positioning (IPOS) operating mode.
IPOS variables:
H200: Operating
mode
...
H484: CTRL_WORD
…
IPOSp l u s
program:
SET H200 = 11 // CFC operating mode

SETSYS OP:MODE = H200 // Reprogramming operating mode to CFC operation
...
…
SET H200 = 14 // CFC operating mode & synchronous operation
SETSYS OP:MODE = H200 // Reprogramming operating mode to CFC&SYNC
...
…
02964AEN
Fig. 30: Switching
It is possible to switch between the operating modes synchronous operation and positioning via
input terminal DI12.
Observe the following important peripheral condition:
Switching from synchronous operation to positioning while the drive is operating can only be
accomplished in CFC or SERVO operating mode.
The following sample program deals with the change between the operating modes
CFC & IPOS and CFC & SYNC.
Applicable rules:
• DI10 = 0 no free-wheeling
• DI10 = 1 free-wheeling, if set to CFC & SYNC operating mode
• DI11 = 0 no function
• DI11 = 1 set DRS zero point (pulse)
• DI12 = 1 positioning, CFC & IPOS operating mode
• DI12 = 0 synchronous operation, CFC & SYNC operating mode
The switch between the operating modes is executed with the following command
_SetSys(SS_OPMODE, H)
where the value of variable H has the following meaning:
SS_OPMODE: Setting of operating mode
H = 11: CFC operating mode (speed control),
H = 12: CFC operating mode & torque control,
H = 13: CFC operating mode & IPOS (positioning),
H = 14: CFC operating mode & synchronous operation (DRS11A),
H = 16: SERVO operating mode (speed control),

H = 17: SERVO operating mode & torque control,
H = 18: SERVO operating mode & IPOS (positioning),
H = 19: SERVO operating mode & synchronous operation (DRS11A)
/*=======================================================================================
IPOS Source File
=========================================================================================*/
#include <const.h>
#include <io.h>
/*----- Definition Inputs -------------------------------------------------------------*/

#define E_Free-wheeling DI10 // Input DI10
#define E_Setzeropoint DI11 // Input DI11
#define E_Switch_Pos_Sync DI12 // Input for switching between positioning
// and synchronous operation
// DI 12 = 1 positioning / DI 12 = 0 synchronous operation
/*----- Definition Outputs -------------------------------------------------------------*/

#define A_DRS_AUSG0 0 // Output DRS X40:9
/*----- Definition Control bits in IPOS Control Word --------------------------------------*/

#define _Free-wheeling 1 // Bit 1
#define _DRS_Setzeropoint 22 // Bit 22
/*----- Definition variables for switching between positioning and synchronous operation ---*/
#define operating mode H300
#define destination position H0
#define CFC_and_IPOS 13 // CFC operating mode & IPOS
#define CFC_and_SYNC 14 // CFC & synchronous operation
/*=======================================================================================
Subroutines
=========================================================================================*/
Free-wheeling_On()
{
/* Free-wheeling activated by setting the external jumper between X40:9 and X40:0
and by setting output X40:9. */

}
/*=======================================================================================*/
Free-wheeling_Off ()
{
/* Free-wheeling is deactivated via external jumper between X40:9 and X40:0 by deleting the
output X40:9. */

}
/*=======================================================================================*/
DRS_Zeropoint()
{
_BitSet( ControlWord, _DRS_Setzeropoint); // Set zero point via control word
_Wait( 15 ); // Response time in ms
_BitClear( ControlWord, _DRS_Setzeropoint ); // Delete Bit
}
/*=======================================================================================*/
Activate_synchronousoperation()
{
Operating mode = CFC_and_SYNC;
_SetSys( SS_OPMODE,operating mode ); // Switch operating mode
DRS_zeropoint(); // Delete angle error
}
/*=======================================================================================*/
Activate_IPOS()
{
Operating mode = CFC_and_IPOS;
_SetSys( SS_OPMODE,operating mode );
}
/*=======================================================================================
Main function (IPOS-Input function)
=========================================================================================*/
main()
{
if( E_Free-wheeling )
Free-wheeling_On();
else
Free-wheeling_Off();
if( E_Setzeropoint )
DRS_zeropoint();
if( E_Switchover_Pos_Sync )
{
Activate_IPOS();
_GoAbs( GO_NOWAIT,Final position );
}
else if ( !E_Free-wheeling )
Activate_synchronousoperation();
}
6.3.5 Programming Individual Parameters

Sample program for use of the MOVLINK command
Change of gear ratio in electric gear unit via binary input.
By using the IPOSplus® sequence control, there are good opportunities in the cooperation with the
DRS11A synchronous operation control card to adjust the MOVIDRIVE® behavior to the conditions
in the system.
The user has to be able to set the master gear unit factor P221 and the slave gear unit factor P222
in certain applications.
Sample program for discrete change of electronic gear unit reduction ratio between master and
slave drive.
Program example generated with IPOSplus® assembler

******************************************
Sample program for discrete change
of electronic gear unit reduction ratio
between master and slave drive.
When using the optional DRS11A

synchronous operation control card
------------------------------------------
Change of parameter "Master Gear Unit

Factor" P221 via binary input of the
MOVIDRIVE basic unit.
Input used for change here:
DI04
SEW
Date: 24 June 97
******************************************
******************************************
Initalisation and declaration of
variables.
H000: Value for P221 at DI04 = 0

H001: VAlue for P221 at DI04 = 1
H482: DRS dig. outputs X21.9&10 (Bit0&1)
Declaration system structure for MOVLNK

-----------------------------------------
Variables H200 - H206 for control
and programming of P221.
H200 = Bus type, SBUS

H201 = Address 0
H202 = Process data, para. channel only
H203 = Communication service (write)
H204 = Index 8502 "Master GU Factor"
H205 = Target variable for data exchange
Binary Inputs:
----------------
DI00 = Controller inhibit
DI04 = Change P221 "Master Gear Unit i
DI04 = Ipos input
******************************************
******************************************
Initialisation of communication service
******************************************
SET H200 = 5
SET H201 = 0
SET H202 = 0
SET H203 = 3
SET H204 = 8502
SET H205 = 210
******************************************
List factors for "Master Getriebe i".
******************************************
SET H0 = 100
SET H1 = 200
******************************************
Read input terminal Di04
******************************************
JMP HI I0000000000010000, M1
JMP LO I0000000000010000, M2
******************************************
Write new value to "Master Gear Unit i."
******************************************
M1 :SET H210 = H0
JMP UNCONDITIONED , M3
M2 :SET H210 = H1
M3 :SET H203 = 3
SET H204 = 8502
M4 :MOVLNK H200
NOP
Repeat until Return Code ok.
JMP H206 != 0 , M4
******************************************
End of program.
******************************************
END
Command Set 7
7 Command Set
General information
• The result of the calculation operation is always assigned to the left-hand argument (always a
variable). The second argument (variable or constant) always remains unchanged.
• The bit positions in the variables and constants are numbered 0 – 31. The least significant bit is
number 0.
7.1 Overview of commands

Arithmetic commands
This program group lists all arithmetic and logical commands.
ADD (H = H + H) .............................................................. pg. 55 MUL / MULTIPLY (H = H * K) ......................................... pg. 55
ADD (H = H + K) .............................................................. pg. 55 NOT (H = NOT (H)).......................................................... pg. 55
AND (H = H & H) ............................................................. pg. 55 OR (H = H | H) ................................................................. pg. 55
AND (H = H & K).............................................................. pg. 55 OR (H = H | K) ................................................................. pg. 55
ASHR / ARITHMETIC SHIFT RIGHT SHL / SHIFT LEFT (H = H << H)....................................... pg. 56
(H = H (Arithmetic >>) H) ................................................ pg. 56 SHL / SHIFT LEFT (H = H << K)....................................... pg. 56
ASHR / ARITHMETIC SHIFT RIGHT SHR / SHIFT RIGHT (H = H >> H).................................... pg. 56
(H = H (Arithmetic >>) K) ................................................ pg. 56 SHR / SHIFT RIGHT (H = H >> K).................................... pg. 56
DIV / DIVISION (H = H / H) .............................................. pg. 55 SUB / SUBTRACT (H = H - H).......................................... pg. 55
DIV / DIVISION (H = H / K) .............................................. pg. 55 SUB / SUBTRACT (H = H - K).......................................... pg. 55
MOD / MODULO (H = H modulo H) ................................. pg. 55 XOR / EXCLUSIVE OR (H = H XOR H) ............................. pg. 55
MOD / MODULO (H = H modulo K) ................................. pg. 55 XOR / EXCLUSIVE OR (H = H XOR K) ............................. pg. 55
MUL / MULTIPLY (H = H * H) ......................................... pg. 55
Bit commands
Contains commands for changing individual bits within one variable. These are:
– Set/clear/move bits
BCLR / BIT CLEAR (H.Bit = 0).......................................... pg. 56 BMOVN / BIT MOVE NEGATE (H.Bit = NOT (H.Bit)) ........ pg. 56
BMOV / BIT MOVE (H.Bit = H.Bit) .................................... pg. 56 BSET / BIT SET (H.Bit = 1) .............................................. pg. 56
Communication commands
Contains commands for data exchange from/to other units via interfaces.
MOVLNK / MOVILINK SCOMON / SYSTEM BUS COMMUNICATION ON
(Process and/or parameter data exchange) ..................... pg. 57 (Start of cyclical transmission) ....................................... pg. 62
SCOM / SYSTEM BUS COMMUNICATION
(Definition of a cyclical variable)...................................... pg. 62
Positioning commands
This command group lists the following positioning commands:
– Reference travel
– Position absolute/relative/with touch probe
GO0 / GO POSITION 0 (Executes a reference travel) ....... pg. 66 GOR / GO RELATIVE (Go relative, constant) ................... pg. 67
GOA / GO ABSOLUTE (Go absolute, constant) ................ pg. 67 GOR / GO RELATIVE (Go relative, variable)..................... pg. 67
GOA / GO ABSOLUTE (Go absolute, variable).................. pg. 67 GOR / GO RELATIVE
GOA / GO ABSOLUTE (Go relative, variable, indirect) ........................................ pg. 67
(Go absolute, variable, indirect)....................................... pg. 67
7 Command Set
Program commands
Contains commands for program control. These are:
– Loop commands
– Subroutine calls
– Control of task 2
– Program branching commands
– Wait commands
CALL (Calls a subroutine) ............................................... pg. 69 LOOPE / LOOP END (Program loop, end) ........................pg. 71
JMP / JUMP (Jump, input terminals).............................. pg. 69 NOP / NO OPERATION (No operation) .............................pg. 71
JMP / JUMP (Jump, H <=> 0) ......................................... pg. 70 REM / REMARK (Remark) ...............................................pg. 71
JMP / JUMP (Jump, H <=> H)......................................... pg. 70 RET / RETURN (End of a subroutine)...............................pg. 71
JMP / JUMP (Jump, H <=> K)......................................... pg. 70 TASK2 (Sets the start address of task 2) .........................pg. 71
JMP / JUMP (System conditioned jump) ........................ pg. 70 WAIT (Waits for a specified period) .................................pg. 71
LOOPB / LOOP BEGIN (Program loop, begin) ................. pg. 71
Set commands
Contains commands for
– Setting variables
– Fault response
– Loading system values into variables
– Writing system values into system variables
– Initializing the interrupt routines
COPY (Block-by-block copying of variables) ................... pg. 72 SETI / SET INDIRECT ([H] = H)........................................pg. 75
GETSYS / GET SYSTEM VALUE (H = System value) ....... pg. 72 SETI / SET INDIRECT (H = [H])........................................pg. 75
SET (H = H) ..................................................................... pg. 74 SETINT / SET INTERRUPT (Sets start address of
SET (H = K) ..................................................................... pg. 74 interrupt routine) .............................................................pg. 75
SETFR / SET FAULT REACTION (Set fault response)....... pg. 74 SETSYS / SET SYSTEM VALUE (System value = H) ........pg. 76
Special unit commands

Contains commands for
– Stopping the axis
– Storing variables and programs onto non-volatile memory in the unit
– Switching touch probe on/off
– Controlling the watchdog
ASTOP / AXIS STOP (Stop axis)...................................... pg. 78 WDOFF / WATCHDOG OFF (Switch off watchdog) ...........pg. 81
MEM / MEMORIZE (Save and load IPOS program and WDON / WATCHDOG ON
variable) .......................................................................... pg. 78 (Call watchdog in time intervals)......................................pg. 81
TOUCHP / TOUCH PROBE (Touch probe command)....... pg. 79
Comparison commands
Contains commands for comparing variables and constants.
ANDL / LOGICAL AND (H = H && H)............................... pg. 82 CPLE / COMPARE LESS OR EQUAL (H = H <= K) ............pg. 82
CPEQ / COMPARE EQUAL (H = H == H) .......................... pg. 82 CPLT / COMPARE LESS THAN (H = H < H)......................pg. 82
CPEQ / COMPARE EQUAL (H = H == K) .......................... pg. 82 CPLT / COMPARE LESS THAN (H = H < K)......................pg. 82
CPGE / COMPARE GREATER OR EQUAL (H = H >= H).... pg. 82 CPNE / COMPARE NOT EQUAL (H = H != H) ...................pg. 82
CPGE / COMPARE GREATER OR EQUAL (H = H >= K).... pg. 82 CPNE / COMPARE NOT EQUAL (H = H != K)....................pg. 82
CPGT / COMPARE GREATER THAN (H = H > H) ............. pg. 82 NOTL / LOGICAL NOT (H = NOT(H)) ................................pg. 82
CPGT / COMPARE GREATER THAN (H = H > K).............. pg. 82 ORL / LOGICAL OR (H = H || H) .......................................pg. 82
CPLE / COMPARE LESS EQUAL (H = H <= H) ................. pg. 82
Command Set 7
7.2 Arithmetic commands
Basic arithmetical functions ADD / SUB / MUL / DIV

ADD The four basic arithmetical functions are performed taking account of signs. They
ADD (H = H + H) can also be performed with variables H and constants K. The 1st argument is always
ADD (H = H + K) a variable H, the 2nd argument can either be a second variable H or a constant K.
SUB It is also possible to add a variable to itself, for example (ADD H000 + H000). Divid-
SUBTRACT (H = H – H) ing by 0 produces an undefined result. The content of the result variable cannot be
SUBTRACT (H = H – K) used. A fault message will appear.
MUL
MULTIPLY (H = H H)
MULTIPLY (H = H K)
DIV
DIVISION (H = H / H)
DIVISION (H = H / K)
Auxiliary arithmetical functions NOT / MOD

NOT The command negates the entire content of variable 2 bit-by-bit. The result of the
NOT (H = NOT (H)) operation is written to variable 1.
MOD This command delivers the remainder of the division as a signed integer value.
MODULO (H = H modulo H)
MODULO (H = H modulo K)
Logic operations AND / OR / XOR

AND The AND command performs a bit-by-bit AND operation on a variable and a second
AND (H = H & H) argument (variable or constant).
AND (H = H & K) Example: AND H01 & H02
OR H01...0000000000 001100
OR (H = H H) H02...0000000000 000101
OR (H = H K) H01...0000000000 000100
XOR The OR command performs a bit-by-bit OR operation.
EXCLUSIVE OR (H = H XOR H)
EXCLUSIVE OR (H = H XOR K) Example: OR H01 H02
H01...0000000000 001100
H02...0000000000 000101
H01...0000000000 001101
The XOR command performs a bit-by-bit EXCLUSIVE OR operation.
Example: XOR H01 XOR H02
H01...0000000000 001100
H02...0000000000 000101
H01...0000000000 001001
7 Command Set
SHIFT commands SHL / SHR / ASHR

SHL SHIFT commands are used for moving the contents of a variable bit-by-bit. This
SHIFT LEFT (H = H << H) means all the bits in the variable are given a new significance. The number of places
SHIFT LEFT (H = H << K) to be shifted is specified in the 2nd argument.
SHR Bit positions which become vacant when the SHL and SHR commands are per-
SHIFT RIGHT (H = H >> H) formed are filled up with zeros. SHL moves to greater significance, SHR reduces
SHIFT RIGHT (H = H >> K) significance.
ASHR ASHR causes a bit-by-bit shift to the right at reduced significances. Either zeros or
ARITHMETIC SHIFT RIGHT ones are moved along, depending on the sign of the original value. This means a
(H = H (ARITHMETIC >>) H) negative sign is not lost during a shifting operation.
ARITHMETIC SHIFT RIGHT Example:
(H = H (ARITHMETIC >>) K) A certain binary significance is assigned to the input terminals of the basic unit and
the DIO11A option (see Table 4, pg. 15). In order to be able to use inputs DI10 – 13,
for example, for table positioning in a sensible fashion (4 inputs = 0 to 15 posi-
tions), the significance of the inputs must be shifted in such a way that the least sig-
nificant terminal DI10 receives the significance 20:
SHL H01 << H02 (H01 = 15, H02 = 6)
Initial status H01 ...0000000000 001111
Following the command H01 ...0000001111 000000
SHR H01 >> H02 (H01 = 960, H02 = 6)
Initial status H01 ...0000001111 000000
Following the command H01 ...0000000000 001111
7.3 Bit commands
Bit commands BSET / BCLR / BMOV / BMOVN

BSET BSET/ BCLR sets (= 1) / resets (= 0) a bit within a variable. The bit positions in the
BIT SET(H.Bit = 1) variable are numbered 0 to 31. The least significant bit is number 0.
BCLR Individual outputs can be set/reset in conjunction with the system variables H480
BIT CLEAR(H.Bit = 0) (OPT.OUT IP) and H481 (STD.OUT IP).
Example: Setting output DO02
(P620 programmed to "IPOS-OUTPUT")
BSET H481.2 = 1
BMOV BMOV copies a bit from variable 2 to any position (significance) in variable 1. All
BIT MOVE (H.Bit = H.Bit) other bits in variable 1 and the entire variable 2 remain unaltered.
BMOVN In the case of BMOVN, the copied bit in variable 1 is also negated.
BIT MOVE NEG. (H.Bit = H.Bit) Example: Interrogation of output DO02
SET H200 = 0
BMOV H200.0 = H482.2
JMP H200 == 1 Mxx
Copying bit 2 of variable H482 (INPUT LVL) to bit 0 of H200 provides a simple
means of interrogating (0 or 1) the terminal level using a JMP command.
Command Set 7
7.4 Communication commands
Data/parameter exchange via MOVLNK

MOVLNK The MOVLNK command permits a process data exchange (PD)1) and/or a parameter exchange
MOVLNK H (PARAM)2) with other MOVIDRIVE® inverters via RS-485 or SBus. Equally, it is possible to change
parameters within the unit. However, a process data exchange (PD) with its own axis is not possible.
Furthermore, it is only possible to have a straight process data exchange from the MOVIDRIVE ® inverter
(always the sender) to MOVIMOT® (always the receiver) via RS-485.
Features RS-485 SBus
Bus run time 30 ms 10 ms (5 ms, only PD)
Sender – Receiver yes yes
Multimaster no yes
Communication with yes (only PD, MOVIMOT® no
MOVIMOT® is receiver)
Special note Do not use the TERMINAL Set bus terminating resistors with
interface S12
The following settings are required on the sender and receiver in sender/receiver mode:
Sender Receiver
• IPOSplus® program with MOVLNK Hxx command • Parameter setting with PD (+)
• Setting the communication parameters using vari- and PARAM (#):
ables • + / # Serial communication
• SBus baud rate (P816) (P810 – P819)
• + Setpoint source (P100)
• + Control signal source (P101)
• + Process data description
(P870 – P876)
1) A more detailed description is contained in the "Fieldbus Unit Profile" manual (setting via P870).
2) All parameters can be addressed via an index number (see "Fieldbus Unit Profile" manual).
3) Several of the connected units can start communicating
Sender setting
IPOSplus® program with MOVLNK Hxx command
A one-time data transfer takes place when the MOVLNK command is called up once. The MOVLNK com-
mand must be called up cyclically for a cyclical data transfer.
Setting the communication parameters using variables
All information required for communication must be entered into a command structure (7 successive
variables) in the variable range. The start of this command structure is defined by the argument (Hxx) of
the MOVLNK command.
Depending on the type of communication (parameter and/or process data exchange), the result is a data
structure the start of which is defined using variable H + 5.
Command structure:
H+0 Bus type (interface)
0= Reserved
1= Interface TERMINAL (RS-485#1)
USS11A (TERMINAL) – Do not use!
2= Interface S1 (RS-485#2), e.g. activation of MOVIMOT®
3= Reserved
4= Reserved
5= SBus, e.g. axis-to-axis communication
7 Command Set

H+1 Individual address of the target unit to be addressed/
group address of the target unit to be addressed (receiver)
The following three addresses are of particular importance:
H+1 = 253 Inverter address
H+1 = 254 "Point-to-point connection" is possible with only one receiver, irrespective of its set address
(P810). It is possible for data to be written to and read from the receiver.
H+1 = 255 "Broadcast", simultaneous addressing of all connected receivers, irrespective of their set
address (P810). It is only possible for data to be written to the receiver.
The offset of 100 must be added to the group address, e.g. 34, if an SBus group address is being
addressed with the MOVLNK command. Consequently, the value to use for variable H+1 in the command
structure is 143.
H+2 Specification of the process (PD) and parameter (PARAM) channels for data transfer
128 = PARAM + 1PD
129 = 1PD
130 = PARAM + 2PD
131 = 2PD
132 = PARAM + 3PD
133 = 3PD
134 = PARAM (without PD)
H+3 Communication services
1= Read service
2= Writing with storage in non-volatile memory
3= Writing without saving
H+4 Index number of the parameter or of the variable which is to be altered or read (see list of
parameters)
(Only important if the parameter channel is used.)
H+5 Number of the variable H' where the read data are stored or from where the data to be writ-
ten are obtained
(The data structure for H' is described in detail below.)
H+6 Contains the fault code after implementation of the service, or contains zero if there was no
fault
Data structure for H':
H'+0 Contains the data for the parameter write services
(See settings 2 and 3 for H+3.)
H'+1 Contains the data which are read by a parameter service
(See setting 1 for H+3.)
Only for process data exchange (PD)
H'+2 PO1 data of the process data exchange
H'+5 PI1 data of the process data exchange
e. g. 100 Bus type (interface) Start

MOVLNK 100 101 Target address
102 Data type (PD + PARAM)
103 Communication service of command variable structure
104 Index number (with parameter channel)
105 Target variable (here: 150)
106 Fault code End
150 Parameter Write Data Start

151 Data read with parameter service
of parameter variable structure
152 PO1 Data
153 PO2 Data only for Variables for
154 PO3 Data process data process data exchange
155 PI1 Data exchange
156 PI2 Data
157 PI3 Data End
Command Set 7

Receiver setting in Parameters / Main Menu
Data exchange only via parameter channel
Setting of serial communication:
Addressing via RS-485 (P810 – P812)
Parameter Address Explanation
P810 0 – 99 Individual addressing ( sender address)
P811 101 – 199 Group addressing (multicast), the sender can write to all
receivers with the same group address at the same time
P812 Timeout monitoring function, only useful with cyclical data
transfer (deactivated if set to 0 ms or 650 ms)
Addressing via SBus (P813 – P816)
Parameter Address Explanation
P813 0 – 63 Individual addressing ( sender address)
(The communication service with the lowest target address
(P813) has the highest priority if the multimaster option of the
SBus is used, i.e. if several inverters transmit the MOVLNK
command at the same time.)
P814 0 – 63* Group addressing (multicast), the sender can write to all
receivers with the same group address at the same time
P815 Timeout monitoring function (deactivated if set to 0 ms or 650
ms)
P816 The baud rate depends on the length of the bus cable and must
be the same for the sender and the receiver.
P817 – 819 Not relevant in connection with the MOVLNK command
Data exchange via process data channel

Serial communication must be set in accordance with the tables above (addressing via RS-485 /
SBus) for the process data exchange. The following additional settings are necessary for active utili-
zation of the process data:
Parameter Explanation
P100 Set the setpoint source to "RS-485" or "SBus"
(only if setpoint specification via process data communication is desired)
P101 Set the control signal source to "RS-485" or "SBus"
P870 – 876 Process data description (see more detailed description in the "Fieldbus Unit
Profile" manual)
Safety note:
When using the MOVLNK command, avoid cyclical writing to the variables which can be stored in the
non-volatile memory (H0 – 127) and to all parameters with communication service = 2. This is because
the number of storage operations with the storage medium used (EEPROM) is restricted to 105 storage
operations.
* increase input value for target addresses by 100 when using group address
7 Command Set
Example 1) Reading an "internal“ unit parameter (DC link voltage)

The following IPOSplus® program and parameter setting serve to read process value P008 (DC link volt-
age) with the index number 8325 ("Fieldbus Unit Profile" manual) and then write it to variable H011 (VZ =
592 V). The variable structure was entered in the variable editing window in this example. It is possible to
generate the variable structure with SET commands in the program.
01831AEN
Example 2) Axis-to-axis communication: Reading variables from another inverter

The value of variable H005 on the receiver axis is read and written to variable H010 in the sender. To do
this, it is necessary to have 2 MOVIDRIVE® inverters connected via the SBus and for the terminating
resistors to be activated (using DIP switch S12).
Sender setting
01832AEN
Command Set 7
Setting Receiver (Slave)

01833AEN
Example 3) Controlling a MOVIMOT® via MOVIDRIVE®
The MOVIMOT® must be commissioned in accordance with the MOVIMOT® operating instructions.
Communication with MOVIMOT® is only possible via RS-485. Control is only possible via the process
data channel with 2PD or 3PD (min. control word and speed).
In the following example, the MOVIMOT® is controlled using 3 items of process output data (control
word 1, speed and ramp). The values for these should be entered in variable H012 to H014.
01834AEN
PO1
PO2
PO3
PI1
PI2
PI3
7 Command Set
Data exchange via SCOM system bus

SCOM The SCOM command is used for exchanging data of up to 8 bytes (only variables) exclusively via
CAN bus (SBus). It is not possible to exchange data within the inverter using this command. A CAN
communication protocol is used instead of SEW's own MOVILINK protocol.
This communication permits data to be exchanged with any stations that are linked together via the
CAN bus (layer 2, OSI model).
The type of data transfer (object type) is defined using the argument of the SCOM command.
TRANSMIT CYCLIC or TRANSMIT ACYCLIC are used for sending data from the inverter cyclically
or acyclically. The RECEIVE setting is required in order for data to be received.
Features SBus
Bus run-time 1 ms ... depending on the cycle time (see
H+1) and the number of data objects
Sender – receiver Yes
Multisender Yes
Communication with MOVIMOT® No
Please note Set bus terminating resistors with S12
The following settings are required on the sender and receiver in sender/receiver mode:
Sender Receiver
• IPOSplus® program with command: • IPOSplus® program with command:
– SCOM TRANSMIT CYCLIC H – SCOM RECEIVE H
SCOMON and/or SCOMON
– SCOM TRANSMIT ACYCLIC H
• Setting the communication parameters
• Setting the communication parameters using variables
using variables
• SBus baud rate (P816), identical on sender and receiver
TRANSMIT CYCLIC
The range of variables used for specifying a data object (communication and user data) is deter-
mined using variable H of the SCOM TRANSMIT CYCLIC H command.
Cyclical data transfer must be started with the SCOMON command. Cyclical data exchange runs in
the background once it has been started, irrespective of the current command processing in the
IPOSplus® program. F5 stops the data transfer. Changes to the data object are not adopted until

after the IPOSplus® program has been restarted (F5 A/P-STOP F9 P-Start or power supply (24 V
backup mode) off and on again).
A maximum of one data object can be set up with each SCOM TRANSMIT... command. It is neces-
sary to send additional SCOM TRANSMIT commands if additional data objects are to be set up.
Only one SCOMON command is required following several SCOM TRANSMIT commands. No addi-
tional SCOM TRANSMIT commands will be accepted after the first SCOMON command.
The number of objects which can be set up depends on the cycle time (max. 5 objects at 1 – 9 ms,
max. 10 objects at 10 – 65530 ms, i.e. 15 objects in total).
The structure of the object is as follows:
H+0 Object number: The object number is used for addressing the data object. The object num-
ber can only be assigned once in a bus system. The object numbers of the sender (TRANS-
MIT) and receiver (RECEIVE) must be the same for the data exchange. Object numbers >
1024 – 2048 must be set in order to avoid a data clash whenever MOVLNK commands are
also used via the SBus.
H+1 Cycle time [ms], specifies the time interval after which the data are sent again (the transfer
time for a data object is 0.25 ms)
1, 2 – 9 ms
10, 20 – 65530 ms
Command Set 7
SCOM TRANSMIT CYCLIC, H0

+ SCOMON
H0 = 1100 SCOM RECEIVE, H0
or DATA + SCOMON H0 = 1100
SCOM TRANSMIT ACYCLIC, H0
SBus DATA
SCOM RECEIVE, H0 Example

+ SCOMON H0 = 1102 SCOM
H+2 Offset [ms], used for distributing the bus load when several SCOM TRANSMIT... com-
mands are used.
t1 t2 t1 t2
b jec bjec b jec bjec
o ro o o
fer fe fer fer
r a ns rans r a ns rans
t t t t
cycle time offset time
01806AEN
0, 1, 2 – 65534 ms for cycle times 10 ms
0, 10, 20 – 65530 ms for cycle times 10 ms
H+3 Number of data bytes and data format
Bit Value Function
0–3 0–8 Number of data bytes
4–7 0 Reserved
8 0–1 0 = MOTOROLA format
1 = INTEL format
The format of the sender and receiver
must be the same!
9 – 31 0 Reserved
H+4 Number of the variable H' where the data to be transmitted start
H+5 Result (return code) of the SCOM command
0 Bus utilization in % (percentage = unused bus capacity)
-1 Incorrect cycle time
-2 Too many objects set up
-3 Bus overload
TRANSMIT ACYCLIC
The range of variables used for specifying a data object (communication and user data) is deter-
mined using variable H of the SCOM TRANSMIT ACYCLIC H command. The data are sent immedi-
ately (without the need for a SCOMON command) after the SCOM TRANSMIT ACYCLIC H
command is called. The data are sent only once.
It is possible to send several variables with only one SCOM TRANSMIT ACYCLIC H command by
setting the variable pointer (H+2) accordingly in the IPOS plus® program every time before the com-
mand is called.
7 Command Set

ber can only be assigned once in a bus system.The object numbers of the sender (TRANS-
MIT) and receiver (RECEIVE) must be the same for the data exchange. Object numbers >
1024 – 2048 must be set in order to avoid a data clash whenever MOVLNK commands are
also used via the SBus.
Bit Value Function
4–7 0 Reserved
1 = INTEL format
must be the same!
9 – 31 0 Reserved
H+2 Number of the variable H' where the data to be transmitted start
H+3 Status of the transmit command
0 Ready
1 Transmission in progress
2 Transmission successful
3 Transmission fault
RECEIVE
The variable in the argument of the SCOM RECEIVE command contains the variable number that
marks the beginning of the reception data storage. No additional SCOM RECEIVE commands will
be accepted after the first SCOMON command.
The reading in of data must be started with the SCOMON command. The reading in of data runs in
the background once it has been started, irrespective of the current command processing in the
IPOSplus® program. Changes to the data object are not adopted until after the IPOSplus® program

has been restarted (F5 A/P-STOP F9 P-Start or power supply (24 V backup mode) off and on
again).
Max. 32 data objects can be set up for reading in data.
bers of the sender (TRANSMIT) and receiver (RECEIVE) must be the same for the data
exchange. Object numbers > 1024 – 2048 must be set in order to avoid a data clash when-
ever MOVLNK commands are also used via the SBus.
Bit Value Function
4–7 0 Reserved
1 = INTEL format
must be the same!
9 – 31 0 Reserved
H+2 Number of the variable H' from which point the received data are stored
Differences in the user data format between the MOTOROLA and INTEL format:
MOTOROLA format INTEL format
CAN data byte 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7
Variable H’+1 H’ H’ H’+1
Variable byte 3 2 1 0 3 2 1 0 0 1 2 3 0 1 2 3
Command Set 7
Safety note:
When using the SCOM command, remember that even the variables which can be stored in the
permanent memory (H0 - H127) as well as all the parameters are only written in the non-perma-
nent memory.
Example Transmission of two variable values (H008 and H009) with the SCOM command from the sender
to the receiver to variables H005 and H006.
Sender setting
01835BEN
Receiver setting
01836BEN
7 Command Set
7.5 Positioning commands
Reference travel GO0

GO0 The GO0 command starts reference travel in accordance with the set reference travel
GO0 argument
type ( Sec. 4.2). IPOSplus® operating mode is exited at the same time (the 7-seg-
ment display changes from "A" to "C"). The set reference speeds are used during ref-
erence travel. The argument of the GO0 command determines the properties of
reference travel as well as the types of reference travel.
The argument is a combination of 3 characteristic properties (C/U; W/NW; ZP/CAM)
resulting in 8 selection options. Furthermore, once reference travel has started, it can
be interrupted using the RESET argument.
01837ADE
C (conditional) Reference travel only if reference travel has not yet

been performed
U (unconditional) Always perform reference travel
W (wait) Waits until the axis is referenced
NW (non-wait) The next command is processed during reference
travel
ZP (zero pulse) Reference travel to the zero pulse of the encoder
signal
CAM (reference cam) Reference travel to the reference cam
RESET Reference travel which has started is interrupted
(braking with the positioning ramp) and the call is
reset. If the axis has already been referenced, the
"Reference position defined" signal is reset and the
"Axis in position" signal is set.
ZP and CAM are ineffective if reference travel type 5 is selected.

CAM must not be set in the case of types 3 and 4.
If a waiting reference command is interrupted by removing “/controller inhibit,“ the
error code 39 (reference travel) will be set.
The axis will not start again after return of the signal. The IPOSplus® program
remains on the command.
A reset (binary input, fieldbus, MX_SHELL ...) has to take place. The IPOS plus® pro-
gram starts with the first note at the start.
Command Set 7
Absolute positioning GOA / Relative positioning GOR

The argument of the travel command contains the target position.
A difference is drawn between absolute positioning and relative positioning.
GOA Absolute positioning

GOA (Wait/ NoWait) K The target position in relation to position 0 (machine zero) is entered as the travel
GOA (Wait/ NoWait) H distance. The resulting target position is replicated in system variable H492 (TARGET
GOA (Wait/ NoWait) [H] POSITION). The value entered can be input directly as a constant (K) or via a variable
(H).
If the command is "waiting", processing of the program does not continue until the
actual position of the drive has reached the position window of the target position.
With "non-wait commands", program processing continues whilst the drive is still
moving. This permits the program to be processed in parallel with movement opera-
tions.
Note: If the target position is specified via a variable, it is only possible to enter the
value in increments (in relation to 4096 increments/motor revolution). Constants can

be entered in user travel units ( Sec. 5.1.1).
GOR Relative positioning
GOR (Wait/ NoWait) K The entered travel distance is added to the current target position H492 (TARGET
GOR (Wait/ NoWait) H POSITION) of the drive. The resulting target position is replicated in system variable
GOR (Wait/ NoWait) [H] H492 (TARGET POSITION). Relative travel commands can also be programmed as
"wait" or "non-wait".
Note: If the target position is specified via a variable, it is only possible to enter the
value in increments (in relation to 4096 increments/motor revolution). Constants can

be entered in user travel units ( Sec. 5.1.1)
Infinite positioning
The absolute travel range of IPOSplus® is limited to values in the range -231 – 0 –
231- 1. With the "relative" travel command, it is possible to add a max. travel distance
of 231 to any target position (see figure below, number circle).
An example of infinite positioning is shown in the JOG mode sample program (
Sec. 9.3).
The GOR command always relates to the target position H492. For example, if the
GOR 1000 incr. command is sent 100 times in a program, the target position is set
internally to 100 x 1000 increments. The position setpoint may "migrate" away from
the actual position of the motor if the command is called up cyclically. The IPOS con-
trol may then fail from a critical value 231/2 onwards.
2x
0 number circle 2 31 -1
plus®
-1 IPOS -2 31
-2 x
01812AEN
7 Command Set
Absolute positioning GOA / Relative positioning GOR

Example 1) The program listed below causes movement to take place between the positions 0
revs. and 100 revs. A waiting period of 5 seconds elapses when a position is
reached.
n (t )
3000 rpm
0 100 s
rev..
01813AEN
Program
sample
Example 2) The program listed below causes movement to take place between the positions 0
and 409600 increments. A waiting period of 1 second elapses when a position is
reached. The speed is increased from 100 rpm to 3000 rpm when the drive moves
beyond position 40960. The entire return travel takes place at 3000 rpm.
n (t )
3000 rpm
100 rpm
0 40960 409600 s
incr .
01814AEN
Program
sample to
demonstrate
the function.
Not to be used
for applicati-
ons without
changes/
modification.
Command Set 7
7.6 Program commands
Subroutine call CALL

CALL Subroutines can be called up with a CALL command (CALL Mxx). The maximum
CALL Mxx nesting depth is 32 levels. The corresponding jump flags (Mxx) are inserted in front
of the first command in the subroutine. A subroutine ends with a RETURN command
(RET). This RETURN command causes program processing to jump back to the line
below the CALL command. The subsequent program lines are then processed. It is
also possible to have nested subroutine calls.
Safety note:
Subroutines must never be exited with a jump into a main program or into another
subroutine. Conditional exiting of the subroutine must be performed by jumping to
the end of the subroutine.
Example The main program positions the drive 10 revs. CCW, after which there is a subrou-
tine call (CALL M1). Here, 2 outputs of the basic unit are set for 1 ms (the output
parameters must be set to "IPOS-OUTPUT"). The jump back to the main program
(RET) takes place next and the GOR WAIT #10 positioning command is processed.
01840AEN
Jump commands JMP

JMP The terminal level of digital inputs can be interrogated in the IPOSplus® program by
JMP HI/LO I 00000000000000 means of a jump command. When doing this, it is necessary to select the terminal
Mxx level (HI/LO) in the input screen which should lead to the jump command being per-
formed. Terminals which are going to be used for this function must be identified
with a "1" in the terminal mask. All defined terminals must have the selected terminal
level in order to fulfill the jump condition for the jump command.
01841AXX
7 Command Set
Jump commands JMP

JMP H <=> 0/ H/ K Mxx The command performs a jump to the specified jump flag (Mxx) when the compari-
son operation is completed. (!= Comparison operator not equal)
01842AXX
> Greater than

>= Greater than or equal
< Less than
<= Less than or equal
== Equal
!= Not equal
JMP (System conditioned jump) The system values listed below can be interrogated directly by means of a JMP com-
mand. Other system values are available as system variables or must be read in
using the GETSYS command and processed further.
01843AXX
UNCONDITIONAL Unconditional jump

N==0 Jump if the speed is equal to zero (n < 20 rpm)
N!= Jump if the speed is not equal to zero (n < 20 rpm)
NOT POSITIONED Jump if the drive is not in position
TP1 Jump if there is an edge change at touch probe termi-
nal DI02
NOT TP1 Jump if there is no edge change at touch probe termi-
nal DI02
TP2 Jump if there is an edge change at touch probe termi-
nal DI03
NOT TP2 Jump if there is no edge change at touch probe termi-
nal DI03
Mxx Jump flag
Command Set 7
Loop commands LOOP

LOOP Program loops can be programmed with the LOOP command. The loop starts with
LOOPB K the LOOPB command and finishes with the LOOPE command. The number of times
LOOPE the loop is processed is defined in the argument of the LOOPB command (max.
number of loop cycles: 256). Nested loops are possible.
Safety note:
Program loops must never be exited with a jump command. Jump commands are
allowed within a program loop.
Example In the example below, variable H0 is incremented from 0 to the value 5 in 5 run-
throughs of the loop. Program processing starts again with the SET H0 = 0 com-
mand after the loop has been run through 5 times.
01844AEN
No operation NOP / Remark REM / Return RET / TASK2 / Wait WAIT

NOP The NOP command does not have any effect on the program function, however like
all other commands, it does require a command processing time of 1.0 ms (TASK1)/
0.5 ms (TASK2).
REM The REM command adds a remark line to the program. Remark lines can only be
saved onto a diskette or on the PC. All remark lines are lost after DOWNLOAD of the
program followed by an UPLOAD.
RET The RET command (RETURN) terminates a subroutine (see the CALL command) and
initiates a jump back to the program from which the subroutine was called. In the
main program, the RET command initiates a jump to the start of the main program.
TASK2 This command is used for defining the start address of TASK2 and for starting or
TASK2 START stopping TASK2 depending on the argument 1 (START/STOP). TASK2 is deactivated
TASK2 STOP when the power is switched on.
01845AEN
WAIT The wait command prevents further processing of the program until the specified
command has elapsed.
Adjustment range: 0 – 32767 ms
7 Command Set
7.7 Set commands
Copy variables COPY

COPY The COPY command copies the number of successive variables specified in the 3rd
COPY H = H, K argument. The 2nd argument of the COPY command specifies the number of the first
source variable and the 1st argument specifies the number of the first target variable.
It is possible to copy up to 10 variables using one COPY command.
Argument 1 Number of the first target variable

Argument 2 Number of the first source variable
Argument 3 Constant (number of variables to be copied)
Read system values GETSYS

GETSYS The system values listed below can be read into one or more variables using the
GETSYS H=(Argument 2) GETSYS command. The 2nd argument of the command defines the number of the
(first) target variable.
ACTIVE CURRENT Active current

ACT.SPEED Actual speed
SETP.SPEED Setpoint speed
ERROR
Fault code ( System Manual, Sec. 9.3, List of
faults)
SYSTEM STATUS Operating status, value of the 7-segment display

without fault status ( System Manual, Sec. 9.1,
Operating displays)
ACT.POSITION Actual position, identical to system variable H511
SETP.POSITION Setpoint position (current setpoint specification
of the profile generator whilst a travel command
is being carried out), identical to system variable
H491
TARGET-POSITION Target position, identical to system variable
H492
INPUTS Binary inputs of the basic unit and the option,
identical to system variable H483
DEVICE-STATUS Identical to status word 1 of the fieldbus unit
profile (fault code + operating status)
OUTPUTS Binary outputs of the basic unit and the option,
identical to system variable H482
IxT
Unit utilization (display in % 0.1)
ANALOG-INPUTS H Voltage value analog input 1 [mV]
H+1 Voltage value analog input 2 [mV]

( Sec. 4.3, Analog inputs/outputs)
CAM The GETSYS H = CAM command makes it possi-
ble to recreate a cam index gear (electronic cam-
shaft device).
Four travel areas of the drive (in relation to the
motor shaft in increments) can be defined using
variables H+6 – H+13. The level of a bit (to be
defined) of a freely selectable variable is altered
when one of the defined travel areas is entered/
exited. This bit can be used, for example, to
switch a digital output (see the example below).
The travel area is only checked when the GETSYS
H = CAM command is called up. Consequently, a
cyclical call is recommended.
Command Set 7

H The variable in the GETSYS H = CAM command
defines the start of the variable structure
described below.
H+0 Position value (H509 – H511) which is used for a
comparison with the defined travel areas.
H+1 Delay time feedforward in 0.1 ms (for compensa-
tion of the program processing time).
H+2 Contains the number of the variable in which a
bit is changed when the defined travel area is
reached/exited.
H+3 Specifies the bit position in the result variable
(H+2).
H+4 Polarity in the result variable
0 = Bit is set in travel area
1 = Bit is set outside travel area
H+5 Number of travel areas (cam blocks), max. 4
H+6 CCW limit value (0)
H+7 CW limit value (0)
01846AEN
ANALOG-OUTPUTS H The variable in the GETSYS H = ANALOG OUT-

PUTS command defines the start of the variable
structure described below.
H+0 Contains the voltage value of analog output 1
(AO1)
H+1 Contains the voltage value of analog output 1
(AO2)
TIMER 0 Loads the current value of timer 0 [ms], identical
to system variable H489
TIMER 1 Loads the current value of timer 1 [ms], identical
to system variable H488
7 Command Set

PO-DATA Reading the PO data buffer
H+0 Bus type
0 = Reserved
1 = TERMINAL
2 = RS-485
3 = Fieldbus
4 = Reserved
5 = SBus
H+1 Number of PO data items
H+2 PO1
H+3 PO2
H+4 PO3
DC-VOLTAGE DC link voltage [V]
Set commands variable SET / Fault resp. SETFR / Indir. address. SETI / Interrupt SETINT / System values SETSYS
SET The SET command loads argument 1 (variable) with the contents of argument 2
SET (H=H) (variable H or constant K). The result is written to argument 1, argument 2 remains
SET (H=K) unchanged.
SETFR The SETFR command defines the response to a unit fault. The fault number in ques-
SETFR tion is entered in argument 1 of the command (List of faults, Sec. 10.2 or MX_SHELL
(argument 1) = (argument 2) help text). The response to a unit fault is selected using argument 2. The selected
fault response is only performed if the SETFR command was processed first. The
SETFR most recently selected fault response (call of the SETFR command or changes in
Fault # = Fault response P83_ "Fault response") is the one in effect.
fault number
selectable fault response
01829AEN
NO RESPONSE No response (no fault is displayed either)
DISPLAY No response, the fault is only displayed (the terminal level of
FAULT an output programmed to "/FAULT" is set from 1 0).
SWITCH OFF, The output stage is inhibited, the brake is activated
FAULT Following a reset: Response as for power off/on, the IPOSplus®
program, reference point, outputs and variables are reset (pro-
gram starts from line 1).
E-STOP, The drive is stopped with the emergency stop ramp
FAULT
Following a reset: Response SWITCH OFF, FAULT.
RAPID STOP, The drive is stopped with the rapid stop ramp
FAULT
Following a reset: Response SWITCH OFF, FAULT.
SWITCH OFF Output stage inhibit
WARNING IPOSplus®program keeps running, reference point, outputs and
variables are maintained.*
E-STOP, The drive is stopped with the emergency stop ramp
WARNING
IPOSplus® program keeps running, SWITCH OFF, WARN-
ING.*
RAPID STOP, The drive is stopped with the rapid stop ramp
WARING
IPOSplus® program keeps running, SWITCH OFF, WARN-
ING.*
* Even after acknowledgment of the fault.
Command Set 7
SETI All variables can be addressed indirectly with the SETI [H]=H or SETI H=[H] com-
SET INDIRECT ([H]=H) mand. This makes it possible to write to variables automatically, for example by
SET INDIRECT (H=[H]) incrementing the variable in brackets in the program.
With SETI [H]=H, the value of the variable in brackets specifies the address of the
variable which is written to with argument 2.
With SETI H=[H], the value of the variable in brackets specifies the address of the
variable which is written to with argument 1.
H01=10
IPOSplus Program H02=666
.. H10=xxx
...
SET[H01]=H02
...
H01=10
H02=666
H10=666
01847AEN
SETINT If the interrupt command (SETINT) is called once, the following events result in an
SETINT (argument 1) Mxx interrupt routine being performed. The jump flag for the interrupt routine is specified
in the SETINT command. The interrupt routine must be completed with a RET com-
mand.
A jump to the interrupt routine takes place immediately, no matter which line in the
main program is being processed at the time. If the interrupt routine ends with the
RET command, processing of the program continues from the point where the inter-
ruption occurred (processing of an interrupted "wait command" is continued).
The SETINT command is only in effect in task 1 and processing of task 1 is inter-
rupted whilst the interrupt is being processed.
It is only possible to process one interrupt at any one time, although an interrupt
with a higher priority can interrupt the processing of another interrupt. ERROR has
the highest priority in this respect, followed by TOUCH PROBE and then TIMER 0.
An interrupt only has to be initialized once using SETINT.
jump address for

a branch in the program
selectable interrupt routine
01830AEN
DISABLE Deactivation of the interrupt, the jump flag (Mxx) does not have
any significance
ERROR Initiates an interrupt in case of a unit fault. Depending on which
fault response is set (parameter group 830 or SETFR command),
the following procedure takes place during processing of the
interrupt routine which is different from the description above:
• No interrupt is carried out if the faults in parameter group

830 are set to "NO RESPONSE" or if the SETFR command
stipulates "NO RESPONSE".
• The program is restarted after acknowledgment of the fault if

the fault response (parameter group 830 or SETFR com-
mand) is set to "..., FAULT" (see SETFR command).
7 Command Set
TIMER 0 Triggers an interrupt when the time set in Timer 0 has elapsed.
An "autoreload" with the system variable H485 takes place after
Timer 0 has elapsed. This reload value determines the cyclical
time period of the interrupt routine.
TOUCH PROBE Triggers an interrupt when there is a change of signal level on
the touch probe terminal DI02, if the touch probe was activated
for terminal DI02 (parameter P601 = IPOS INPUT) and the
TOUCHP command was transmitted.
Example Interrupt branch in the event of a unit fault

In the sample program, a distance of 100 revolutions is traveled after a 2 sec. pause
and then the process repeats itself. The program branches to the interrupt routine
immediately if a unit fault occurs. The jump back (RET) to the main program takes
place as soon as there is a "high" signal at terminal DI02. The parameter for input
DI02 should be set to "Reset" in order to reset the fault.
01849AEN
SETSYS The system values listed below can have variables written to them using the SETSYS
command. The first argument selects the system value to be written whilst the sec-
ond argument contains the number of the (first) source variable.
The system values are reset to their original values when the system is switched off
(mains and 24 V power).
Safety note:
By writing to system values, it is possible to alter unit settings which have been
adapted to the application during startup. In particular, changes to positioning ramps
and the maximum current must be adapted to the features of the system in order to
preclude the risk of damage and hazards (e.g. due to mechanical overload).
Argument 2 =
number of
Argument 1 =
the (first)
selectable
source
system value
variable
01848AEN
Command Set 7
Argument 1: System values which can be selected

The internal fixed setpoints (parameter group P160/P170) can be
altered in steps of 0.1 rpm using the IPOSplus® program (even
whilst movement is in progress if there is no controller inhibit).
N11 = Internal fixed setpoint n11
PI-DATA Process input data corresponding to the fieldbus unit profile
H Reserved
H+1 PI data 1
H+2 PI data 2
H+3 PI data 3
OP. MODE Setting the operating mode. The operating mode can only be
altered within the same control procedure (CFC or SERVO)
(even whilst movement is in progress if there is no controller
inhibit).
11 CFC (speed control)
12 CFC & torque control
13 CFC & IPOS (positioning)
14 CFC & synchronous operation (DRS11A)
16 SERVO (speed control)
17 SERVO & torque control
18 SERVO & IPOS (positioning)
19 SERVO & synchronous operation (DRS11A)
IMAX Setting the maximum current (only parameter set 1) as a per-
centage of the unit's rated current
(Adjustment range: 0.1 – 150 %, in 0.1 % steps);
adjustment is also possible during movement.
POS. RAMP Positioning ramps (up/down), adjustment is also possible dur-
ing movement. Setting in ms with reference value 3000 rpm.
H Positioning ramp 1 (up)
H+1 Positioning ramp 2 (down)
POS. SPEED Positioning speed (CW/CCW), adjustment is also possible dur-
ing movement. Setting in 0.1 rpm.
H Positioning speed CW
H+1 Positioning speed CCW
OVERRIDE ON Switching the override on/off, adjustment is also possible dur-
ing movement.
H=0 Off
H0 On
BRAKE FUNC. Switching the brake function on/off (Pxxx)
ON H=0 Off
H=1 On
RAMP TYPE It is not a good idea to adjust this during movement (torque

shocks!). ( Sec. 5.3, P916)
H=0 Linear
H=1 Sine
H=2 Squared
RESET ERROR Resetting a unit fault
ACT. POSITION Setting the motor encoder actual position ACTPOS.MOT
(H511)
Argument 2: Number of the (first) source variable
7 Command Set
7.8 Special unit commands
ASTOP / MEM / TOUCHP / WDOFF / WDON

ASTOP The drive is stopped or re-enabled when an ASTOP command is processed. The
argument of the command (RAPID STOP, HOLD CONTROL, TARGET POSITION)
defines the type of stopping (ramp, control when stopped, etc.) or re-enables the
drive (IPOS ENABLE).
01850AXX
Argument
RAPID STOP Braking with the rapid stop ramp followed by speed con-
trol. The last target position (H492) to have been transmit-
ted is retained. Inhibit via control word (the ASTOP (IPOS
ENABLE) command is required with the subsequent travel
command). The brake is applied when the brake function
is activated.
HOLD Braking with the ramp of the basic unit (P131/P133) fol-
CONTROL lowed by position control. The last target position (H412)
to have been transmitted is retained. Inhibit via control
word (the ASTOP (IPOS ENABLE) command is required
with the subsequent travel command). The brake is not
applied when the brake function is activated.
TARGET Positioning stop with the positioning ramp (P911/P912)
POSITION and calculated “STOP” target position (only possible in
positioning mode) followed by position control. The last
target position (H492) to have been transmitted is over-
written by the stop position. No inhibit via control word
(no ASTOP (IPOS ENABLE) command is required with the
subsequent travel command). The brake is not applied
when the brake function is activated.
IPOS ENABLE The inhibit is revoked using the IPOS control word.
MEM The MEM command makes it possible to save (load) IPOSplus® programs and/or
variables in (from) the non-volatile memory on (to) the unit. The action is specified
by the argument.
Safety note:
When using the MOVLNK command, avoid cyclical writing to the variables which can
be stored in the non-volatile memory (H0 – 127) and to all parameters with commu-
nication service = 2. This is because the number of storage operations with the stor-
age medium used (EEPROM) is restricted to 105 storage operations.
01851AXX
Command Set 7

Argument Explanation
NOP No data are stored
STORE ALL Programs and data in the working memory are saved in
the non-volatile memory (EEPROM)
LOAD ALL Programs and data in the non-volatile memory (EEPROM)
are loaded to the working memory
STORE CODE Only the program is saved from the working memory to
LOAD CODE Only the program is loaded from the non-volatile memory
(EEPROM) to the working memory
STORE DATA Only the variables are saved from the working memory to
LOAD DATA Only the variables are loaded from the non-volatile mem-
ory (EEPROM) to the working memory
TOUCHP The TOUCHP command enables or inhibits a touch probe input. The touch probe
function is always assigned to input terminals DI02 and/or DI03. Inputs used for the
touch probe function should be set to "NO FUNCTION" in order to prevent them being
allocated twice.
If there is a change of signal level at a touch probe input after the TOUCHP command
has been carried out, the current actual positions (H511, H510, H509) are stored in
the variables intended for this purpose (H502 – H507). It takes 200 s to store the
touch probe positions, irrespective of ongoing program processing. The terminal
level must be altered for at least 200 s in order to be reliably detected. With this
argument, you can select the flange change leading to touch probe
01852CXX
The touch probe positions are stored in the following variables:

Encoder Encoder posi- Position Position
tion Touch probe 1 Touch probe 2
(DI02) (DI03)
Motor encoder H511 H507 H505
(X15) ACTPOS. MOT TP.POS1MOT TP.POS2MOT
External encoder H510 H506 H504
(X14) ACTPOS.EXT TP.POS1EXT TP.POS2EXT
Absolute encoder H509 H503 H502
(X62) ACTPOS.ABS TP.POS1ABS TP.POS2ABS
7 Command Set

Argument Explanation
ENABLE 1 Enables the touch probe input DI02
DISABLE 1 Inhibits the touch probe input DI02
ENABLE 2 Enables the touch probe input DI03
DISABLE 2 Inhibits the touch probe input DI03
ENABLE 1_HI Enables the touch probe input DI02 when changing
low/high
ENABLE 1_LO Enables the touch probe input DI02 when changing
high/low
ENABLE 2_HI Enables the touch probe input DI03 when changing
low/high
ENABLE 2_LO Enables the touch probe input DI03 when changing
high/low
Example 1) In the program, the drive travels between the absolute positions of 0 revs. and 100
revs. If there is a change of signal level at touch probe input DI03 whilst the drive is
moving to the target position of 100 revs., a further 10 revs. (40960 incr.) is traveled
from precisely this touch probe position. The touch probe function is deactivated
with the DISABLE2 command for the return to the 0 revs. position.
01853AEN
01854AEN
Command Set 7

Example 2) As an alternative to the example above, a program branch (jump flag M100) can take
place when the touch probe position is reached. This is achieved using the "SETINT
TOUCHP1 M100" command.
01855AEN
WDOFF Time monitoring is activated with WDON. TASK1 and TASK2 are halted and the drive
WDON is stopped with fault 41 if the time specified in the argument elapses before the mon-
itoring function is switched off using the WDOFF command. (When the drive is
stopped, the output stage is inhibited and the brake is applied. The drive coasts to a
halt if there is no brake.)
In the sample program, the drive moves for as long as the level at DI05 = 1 ("high").
The "watchdog" function ensures that the drive does not travel for more than 10 sec.
The drive is stopped if it travels for more than 10 sec.
01856AEN
7 Command Set
7.9 Comparison commands
Comparison operations CPEQ / CPGE / CPGT / CPLE / CPLT / CPNE

CPEQ A variable is compared with a 2nd argument (variable or constant),
COMPARE EQUAL (H = H == H) with the following comparisons being possible:
COMPARE EQUAL (H = H == K)
• Equal to (CPEQ)
CPGE
• Greater than or equal to (CPGE)
COMPARE GREATER OR EQUAL (H = H >= H)
COMPARE GREATER OR EQUAL (H = H >= K) • Greater than (CPGT)
• Less than or equal to (CPLE)
CPGT
COMPARE GREATER THAN (H = H > H) • Less than (CPLT)
COMPARE GREATER THAN (H = H > K) • Not equal to (CPNE)
CPLE The result in variable 1 is 0 if the condition is met (TRUE). The result
COMPARE LESS OR EQUAL (H = H <= H) is 0 (FALSE) if the condition is not met.
COMPARE LESS OR EQUAL (H = H <= K) The result can be processed further with a subsequent jump com-
CPLT mand.
COMPARE LESS THAN (H = H < H)
COMPARE LESS THANL (H = H < K)
CPNE
COMPARE NOT EQUAL (H = H != H)
COMPARE NOT EQUAL (H = H != K)
Logic operations ANDL / ORL / NOTL

ANDL Variables only have two conditions in the case of commands which
LOGICAL AND (H = H && H) perform logic operations:
ORL • = 0 (FALSE)
LOGICAL OR (H = H H) • 0 (TRUE)
NOTL
LOGICAL NOT (H = NOT (H) The ANDL command performs a logical AND operation on a variable
and a 2nd argument (variable or constant):
Example 1: Example 2:
ANDL H01 && H02 ANDL H01 && H02
H01 = 100 Meaning: 0 H01 = 100 Meaning: 0

H02 = 0 Meaning: = 0 H02 = 50 Meaning: 0
--------------------------------------------------------------- ----------------------------------------------------------------
H01 = =0 H01 = 0
The ORL command performs a logical OR operation on a variable and

a 2nd argument (variable or constant):
ORL H01 H02 ORL H01 H02
H01 = 100 Meaning: 0 H01 = 0 Meaning: 0

H02 = 0 Meaning: = 0 H02 = 0 Meaning: 0
---------------------------------------------------------------- ---------------------------------------------------------------
H01 = 0 H01 = =0
The NOTL command negates a variable:

NOTL H01 = NOT (H02) NOTL H01 = NOT (H02)
H01 = 100 Meaning: 0 H02 = 0 Meaning: = 0
--------------------------------------------------
- --------------------------------------------------------------------
H01 = =0 H01 = 0
The result can be processed further with a subsequent jump com-

mand.
Survey of System Variables 8
8 Survey of System Variables
Variables marked "reserved" are used for internal functions and must not be utilized.
Editing variables: Sec. 4.2.2, 7.1 and 7.2
No. Name Description
473 STAT.WORD The operating status of the inverter can be queried using the status word.
Bit Function with level "1" Bit Function with level "1"
0 No function 13 Imax signal
1 /Fault 14 /Motor utilization 1
2 Ready 15 /Motor utilization 2
3 Output stage on 16 /DRS prewarning
4 Rotating field on 17 /DRS lag fault
5 Brake released 18 DRS slave in position
6 Brake applied 19 IPOS in position
7 Motor stationary 20 IPOS referenced
8 Parameter set 21 Reserved
9 Speed reference 22 /IPOS fault
10 Speed window 23..31 Reserved
11 Set/act. comparison
12 Current reference
474 SCOPE 474
Variables for display using MX_SCOPE
475 SCOPE 475
476 DRS CTRL. Signal level of the binary outputs of the synchronous operation board type DRS11A READ and
SET.
Bit Terminal level
0 X40.9 OUTP0
1 X40.10 OUTP1
3..14 Reserved
15 Set hardware fault DRS (fault 48)
16..31 Reserved
477 DRS STATUS Signal level of the binary inputs and status signals of the synchronous operation board type
DRS11A READ.
Bit Terminal level / Status signals
0 X40.5 INP4 Free input 1
1 X40.6 INP5 Free input 2
2 /DRS prewarning
3 /DRS lag error
4 DRS slave in position
5 Master stand still
6..31 Reserved
478 Reserved
479 ANA.OUT IP Analog outputs of the terminal expansion board type DIO11A SET only.
Analog inputs/outputs, page 18
Value of variable Physical output Output terminal assignment
-10000..0..10000 AOV1/AOC1 (X21:1/X21:2) P640 analog output AO1 = IPOS-OUTPUT
-10000..0..10000 AOV2/AOC2 (X21:4/X21:5) P643 analog output AO2 = IPOS-OUTPUT
480 OPT.OUT IP Binary outputs of the terminal expansion board type DIO11A/DIP11A SET only.
Digital outputs, page 16
Bit Physical output Output terminal assignment
0 DO10 (X23:1) P630 binary output DO10 = IPOS-OUTPUT
8..31 Reserved

481 STD.OUT IP Binary outputs of the basic unit SET only.
Bit Physical output Output terminal assignment
0 DB00 (X10:3) Not programmable, fixed setting of "/Brake"
1 DO01 (X10:4) If P620 binary output DO01= IPOS-OUTPUT
2 DO02 (X10:7) If P621 binary output DO02 = IPOS-OUTPUT
3..31 Reserved
482 OUTPUT LVL Signal level of the binary outputs READ only.
Bit Terminal level basic unit Bit Terminal level DIO11A/DIP11A
0 DB00 (X10:3) 3 DO10 (X23:1/X61:1)
1 DO01 (X10:4) 4 DO11 (X23:2/X61:2)
2 DO02 (X10:7) 5 DO12 (X23:3/X61:3)
6 DO13 (X23:4/X61:4)
7 DO14 (X23:5/X61:5)
8 DO15 (X23:6/X61:6)
9 DO16 (X23:7/X61:7)
10 DO17 (X23:8/X61:8)
11..31 Reserved
483 INPUT LVL Signal level of the binary inputs READ only.
Digital inputs, page 15
Bit Terminal level basic unit Bit Terminal level DIO11A/DIP11A
0 DI00 (X13:1) 6 DI10 (X22:1/X60:1)
1 DI01 (X13:2) 7 DI11 (X22:2/X60)
2 DI02 (X13:3) 8 DI12 (X22:3/X60:3)
3 DI03 (X13:4) 9 DI13 (X22:4/X60:4)
4 DI04 (X13:5) 10 DI14 (X22:5/X60:5)
5 DI05 (X13:6) 11 DI15 (X22:6/X60:6)
12 DI16 (X22:7/X60:7)
13 DI17 (X22:8/X60:8)
14..31 Reserved
484 CTRL.WORD IPOSplus® control word (unit functions READ and SET).
The IPOS plus® control word can always be used, irrespective of the operating mode, control
source and setpoint source. The IPOSplus® control word is ORred in the unit with the terminal
functions, the fieldbus control word and the control word via the RS-485/RS-232 and the SBus.
Bit Function at level "1" Bit Function at level "1"
0 No function 16 Reserved
1 No enable 17 Reference cam
2 CW 18 Ref. travel start
3 CCW 19 Slave free running
4 n11/n21 (fixed setpoint 1) 20 Setpoint acceptance
5 n12/n22 (fixed setpoint 2) 21 Reserved
6 Fixed setpoint switchover 22 Set DRS zero point
7 Parameter switchover (param. set 2) 23 DRS slave start
8 Ramp switchover (ramp set 2) 24 DRS Teach in
9 Motor pot. up 25 Reserved
10 Motor pot. down 26 Reserved
11 External fault 27 Reserved
12 Fault reset 28 Reserved
13 Hold control 29 Reserved
14 Limit switch CW 30 Controller inhibit
15 Limit switch CCW 31 Reserved
485 T0 RELOAD Loading value for the user timer 0 cycle time READ and SET.
The cycle time can be specified with H485 if a user timer (TIMER0 (H489)) is to be used cyclically
with the SET INTERRUPT (SETINT) command. The time value entered in H485 is automatically
loaded with this time value again every time the timer 0 runs down (H489 = 0).
Value range: 0 – 231 - 1 ms.
486 Reserved
487 Reserved
Survey of System Variables 8

488 TIMER 1 Time for the user timer 1 READ and SET.
The user timer 1 counts down to 0.
489 TIMER 0 Time for the user timer 0 READ and SET.

The user timer 0 counts down to 0. An interrupt branch is performed when the timer value
reaches 0 if the SET INTERRUPT (SETINT) command is being used ( SETINT command
description in Sec. 7.6). The cycle time can be specified with the T0 RELOAD variable (H485) if a
user timer is to be used cyclically with the SET INTERRUPT (SETINT) command.
490 WD.TIMER Time for the user watchdog READ and SET.
The watchdog timer counts down to 0. The WATCHDOG ON (WDON) command activates the
timer and defines the cycle time.
491 SETP.POS. Current setpoint position READ.
IMPORTANT: System controlled variable! Value must not be overwritten!
The setpoint position always has the following unit, irrespective of the encoder pulse count per
revolution:
1
------------
4096
Motor revolutions
------------------------------------------
Inc.
The current setpoint position represents the absolute position which is currently valid for posi-
tion control in the travel job which is in progress. The changes in the setpoint position over time
result from the calculated travel profile with regard for the positioning ramp, travel speed, ramp
shape, etc. The value of H491 is the same as H492 after the travel job has been completed and the
drive is stopped.
Value range: -231 – 0 – 231...1 inc.
492 TARGET POS Current target position READ and SET.
The target position always has the following unit, irrespective of the encoder pulse count per rev-
olution:
1
------------
4096
Motor revolutions
------------------------------------------
Inc.
This variable represents the current target position of the travel job which is currently in progress.
The position is represented in H492 in absolute terms.
Example:
1. Current drive position: 50000 inc.
2. GOR NOWAIT #–8000 inc
3. Current target position: 42000 inc.
Value range: -231 – 0 – 231...1 inc.
493 POS.WINDOW Position window READ and SET.
The position window defines a distance range around the target position (H492) of a travel or

stop command (GOx or ASTOP TARGET POSITION). The "IPOS IN POSITION" signal is generated
as soon as the drive moves into the position window ( P922 Position window, page 31).
Value range: 0 – 215...1 inc.
494 LAG WINDOW Lag window READ and SET.

The lag error window defines the maximum permitted difference between the setpoint and actual
positions. Lag monitoring is deactivated when the value is set to 0 ( P923 Lag error window,
page 32).
495 LAG DISTAN Lag distance READ.
Value of the current lag distance in positioning (difference between setpoint and actual position).

496 SLS RIGHT Software limit switch CW READ and SET.
Limits the travel range in the CW direction. The value is stated in user travel units. The monitoring

of the software limit switches is only active if the drive is referenced. Monitoring is deactivated if
both the CCW and the CW limit switches are set to 0 ( P920 SW limit switch CW, page 31).
Value range: -231 – 0 – 231...1.
497 SLS LEFT Software limit switch CCW READ and SET.
Limits the travel range in the CCW direction. The value is stated in user travel units. The monitor-

ing of the software limit switches is only active if the drive is referenced. Monitoring is deactivated
if both the CCW and the CW limit switches are set to 0 ( P921 SW limit switch CCW, page 31).
Value range: -231 – 0 – 231...1.
498 REF.OFFSET Reference offset READ and SET.
Reference offset makes it possible to move the machine zero without physically altering the posi-

tion of the reference position. Utilization of the reference offset is dependent on the reference
travel type (P903) ( P900 Reference offset, page 25).
The reference offset always has the following unit, irrespective of the encoder pulse count per
revolution:
1
------------
4096
Motor revolutions
------------------------------------------
Inc.
Value range: -231 – 0 – 231...1.

499 SP.POS.BUS Setpoint position bus READ.
Contains the setpoint position which is sent via the fieldbus process data. The setpoint position is
only accepted if "POSITION LO" and "POSITION HI" are programmed in the PO-data description
(parameter group P87_).
500 reserved
501 reserved
502 TP.POS2ABS The touch probe positions are stored in the following variables:
503 TP.POS1ABS Encoder Encoder position Position Position
504 TP.POS2EXT Touch probe 1 (DIO2) Touch probe 2 (DIO3)
505 TP.POS2MOT Motor encoder (X15) H511 ACTPOS.MOT H507 TP.POS1MOT H505 TP.POS2MOT
External encoder (X14) H510 ACTPOS.EXT H506 TP.POS1EXT H504 TP.POS2EXT
506 TP.POS1EXT
Absolute encoder (X62) H509 ACTPOS.ABS H503 TP.POS1ABS H502 TP.POS2ABS
507 TP.POS1MOT
508 reserved
509 ACTPOS ABS Current actual position absolute value READ.
The actual position 3 is determined via the signals which are active on connector X62 (DIP11A
option).
510 ACTPOS EXT Current actual position motor encoder READ.
The actual position 2 is determined via the track signals which are active on connector X14.
The determination of the position (actual position 2) is only carried out if connector X14 is used
as an encoder input.
511 ACTPOS MOT Current actual position motor encoder READ.
The actual position 1 always has the following unit, irrespective of the encoder pulse count per
revolution:
1
------------
4096
Motor revolutions
------------------------------------------
Inc.
Sample Programs 9
9 Sample Programs
9.1 General information
Introduction
The sample programs are intended to display the basic procedure involved in writing an IPOSplus®
program. The first sample program (hoist) deals with fundamental aspects such as wiring, param-
eterization and limit switch settings. The other two sample programs (jog mode, table positioning)
represent frequently used functions. They can be employed as building blocks for other programs.
These two sample programs are modular (no overlapping input/output assignments, variables or

jump flags) which means they can be combined by copying them together ( Sec. 3.1).
Pre-requisites / procedure
• Motor with encoder feedback, MOVIDRIVE® MDV60A / MDS60A with DIO11A input/output
option or fieldbus interface option.
• Wire up the signals needed for activating the unit functions and evaluating the signals.
• Test the function of the drive in the "Manual" operating mode of MX_SHELL prior to creating a
program. When doing this, check whether the process values are within the permitted limits
(speed, current, etc.).
• Although programs may seem "theoretically" flawless, it is often the case that the first practical
test reveals weak points or even errors. Consequently, the recommended course of action is to
test the function of the procedure with low dynamic forces, at a slow speed and – if possible –
without a connected load. Safety precautions may have to be taken depending on the system
and the application (e.g. emergency shut-off, connecting hardware limits switches) in order to
eliminate any risk of damaging the machine or injuring anyone.
• All parameters of the drive inverter and the IPOSplus® program as well as variables H000 – H127
are automatically saved in the non-volatile memory of the drive inverter after being transferred
to it. Save the program to the PC hard disk in order to avoid losing any remark lines which you
may have inserted (these are not saved in the inverter!).
Program structure
• 1st part: Remarks
It is important to document individual program sections in order to make the program more eas-
ily comprehensible. You should insert a program header as a remark at the start of the program.
It should include the following points:
- Customer's project name
- File name
- Functional description
- Assignment of binary inputs and outputs
- Declaration of the variables used
- Date and author of the program
• 2nd part: Initialization

The initialization section is normally only run through once at the start of the IPOSplus® program.
It contains commands which put the machine into a defined basic condition. Process values are
set (e.g. position values, acceleration values and speeds).
9 Sample Programs
• 3rd part: Program subroutine calls

Generally speaking, one IPOSplus® program performs several functions. These are selected by
means of defined input terminal combinations. It is a good idea to split these functions up into
subroutines and then to call these subroutines from a central point as a function of certain input
terminals Program subroutine calls. A subroutine can be called up either using a jump com-
mand "JMP... Mxx" or by means of a subroutine call "CALL Mxx". The CALL Mxx function allows
subroutines to be processed in chronological order (see the CALL command).
• 4th part: Main program and subroutines

The movement sequence of the system is programmed in the main part of the IPOSplus®
program. Many driveline applications consist of:
- Automatic program sequence (main program)
- Program components which are to be called up separately (subroutines)
- Jog mode (maintenance mode) in which the motor can be moved forwards or backwards
slowly
The program jumps back to the program branch distributor once the main program and the sub-
routines have been completed.
Basic terminal functions for IPOSplus®

• "/Controller inhibit" input
A "0" signal at the "/Controller inhibit" input blocks the power section without however electrically
isolating the inverter from the motor. The brake output is activated and the drive is either
stopped using the brake mounted on it or allowed to coast to a standstill. The recommended
course of action is to bring the drive to a halt using electrical control (with "Enable" = "0") before
shutting it down with "/Controller inhibit".
• "Enable" input
A "0" signal at the "Enable" input brings the drive to a halt subject to speed control by means of
the rapid stop ramp (P136/P146).
• "/Lim. switch CW" input (clockwise limit switch) and "/Lim. switch CCW" input (counterclockwise
limit switch)
To ensure the safety of the system, the permitted travel range should be safeguarded with hard-

ware limit switches as well as software limit switches ( Sec. 5.4). These should be configured
as NC contacts and wired up to the "/Lim. switch CW" and "Lim. switch CCW" binary inputs. The
drive is stopped using the emergency stop ramp (P137/P147) if it passes the hardware limit
switch. The output stage is then inhibited. Movement to the "/Lim. switch CW" and "Lim. switch
CCW" only takes place in regular operation when reference travel is performed. A "braking dis-
tance" is required for bringing the drive to a controlled halt when one of the limit switches is
reached. The drive must not move beyond the trip cam of the limit switch as it covers this dis-
tance. The trip cam of the limit switch must therefore be set to an appropriate length.
• "Reference cam" input and "Reference travel" input

IPOSplus® requires reference travel if an incremental encoder or a resolver is used for distance

measurement ( Sec. 5.2). "Reference travel" can be started without an active travel program
by means of an input terminal which must be parameterized for this purpose ("Ref. travel start").
However, it is better to have the start within the program using the GO0 command. Referencing
only remains valid for as long as the inverter is energized. The need for referencing after the
mains voltage is switched off can be obviated if an external 24 V power supply is provided.
Sample Programs 9
• IPOS input
The structure of your program defines the significance of various input and output terminals for
your application. The terminals used in the program must be programmed to "IPOS input" or
"IPOS output".
• "IPOS in position" output

If an output is programmed to "IPOS in position", this causes a "1" signal to be output whenever

the drive is located inside its position window for the target position ( Sec. 5.4). The output is
also set if the drive is stopped with the "ASTOP Target position" stop command, or following a
power off/on. In order to achieve a definite relationship to your target positions, it may be a good
idea to set an output in the program to display when the target position is reached. This output
must be programmed to "IPOS output".
• "Reset" input
The "Reset" input makes it possible to use the control for acknowledging a unit fault that has
been displayed. The drive is automatically moved away from a hardware limit switch if it comes

into contact with one ( Fault Messages, Sec. 10).
• "Ready" and "/Fault" output

The "Ready" and "/Fault" signals are used by the external control for checking the function of the
drive system.
9.2 Sample program "Hoist"

• Properties:
- Selecting three hoist positions using binary inputs
- Issuing a signal when a selected position is reached
- Automatically moving away from hardware limit switches
The drive can be moved to 3 positions using the first 3 input terminals of the DIO11A option.
The drive is moved away from a hardware limit switch with which it comes into contact by
means of a "1" signal at the "RESET" input (DI02).
• Settings:
The detailed configuration of the inputs/outputs (see below) and the variables used in the pro-
gram is documented in the remark section of the program source code.
9 Sample Programs
Schematic structure:
d = 50 mm
i=5 Motor
Stopping distance 100 CW hardware limit switch

CW software limit switch
100
Upper travel range
Carriage
2000
Reference cam
500
Machine zero
100
CCW software limit switch
Stopping distance 100 CCW hardware limit switch
01870AEN
Fig. 31: Schematic structure of the hoist with IPOSplus®
Sample Programs 9
Terminal wiring:
01367CEN
Fig. 32: IPOS wiring diagram
9 Sample Programs
Setting the MX_SHELL parameters relevant to the example
30.Limits
302 Maximum speed 1 [rpm] 1500
350 Change direction of rotation 1 OFF
60.Binary inputs basic unit

600 Binary input DI01 ENABLE/RAP.STOP
601 Binary input DI02 RESET
602 Binary input DI03 REFERENCE CAM
603 Binary input DI04 /LIM. SWITCH CW
604 Binary input DI05 /LIM. SWITCH CCW
61.Binary inputs option DIO11A

610 – 617 Binary inputs DI10 – DI17 IPOS INPUT
63.Binary outputs option DIO11A

630 Binary output DO10 /FAULT
636 Binary output DO16 IPOS IN POSITION
637 Binary output DO17 IPOS REFERENCE
700 Control functions

700 Operating mode CFC & IPOS
730 Brake function YES
9..IPOS parameters
900 Reference offset [mm] 500
901 Reference speed 1 [rpm] 200
902 Reference speed 2 [rpm] 50
903 Reference travel type 1
910 Gain X controller 2.8
911 Positioning ramp 1 [s] 1
912 Positioning ramp 2 [s] 1
913 Travel speed CW [rpm] 1350
914 Travel speed CCW [rpm] 1350
915 Speed feedforward [%] 100
916 Ramp type SINE
920 SW limit switch CW [mm] 2100
921 SW limit switch CCW [mm] -100
922 Position window [Inc] 50
923 Lag error window [Inc] 5000
930 Override OFF
Travel distance factor NUMERATOR/DENOMINATOR

(In program window header, see Sec. 5.1)
Travel distance factor NUMERATOR 2048000
Travel distance factor DENOMINATOR 15708
Dimension mm
Sample Programs 9
Calculating the IPOSplus® parameters
Reference offset: See schematic structure

SW limit switches: See schematic structure
TDF numerator: The unit of travel dimension should be set to mm!
Number of increments per revolution of the driving wheel
Increments/motor rev. × gear ratio
4096 increments × 5 = 20480
20480 × 100 (extension factor) = 2048000
TDF denominator: Circumference of the driving wheel in mm
d ×
50 mm × = 157.0796327
157.08 × 100 (extension factor) = 15708
Unit: The unit following the travel-specific information
should appear in mm.
Travel speed: 1350 rpm
Position window: The "Drive in position" message should be issued when
the target position ±50 increments is reached.
Input terminal mask Terminal function Meaning
/Controller inhibit Switching power section on/off

Enable Controlled standstill
Reset Reset after fault (clear LS)
Reference cam Switch for zero position or offset value
CW limit switch Limit switch for stopping (+)
CCW limit switch Limit switch for stopping (-)
IPOS input Hoist position 0 mm
IPOS input " 1000 mm
IPOS input " 2000 mm
IPOS input -
IPOS input (Jog positive)
IPOS input (Jog negative)
IPOS input Start reference travel
IPOS input Start positioning
01885AXX
Output terminals Terminal function Meaning
DB00 MDX /Brake Activation of brake via auxiliary relay
DO01 MDX Ready Controller active; power supply OK
DO02 MDX /Fault No fault present
DO10 DIO11A IPOS output -
DO16 DIO11A IPOS in position Drive is in position window
DO17 DIO11A IPOS reference Reference travel performed successfully
9 Sample Programs
Program source code (with remarks) Remarks

NUM.: 2048000 DENOM.: 15708
DIMEN.: mm
****************************************** Remarks
Sample program: Hoist
The drive is moved to 0; 1000; 2000 mm
positions using the first 3 inputs
of the DIO11A option.
File: Hubwerk
Author: SEW/AWT
Date: 01.06.98
Modified: 14.08.98
Terminal wiring of inputs:-----------------

DI00 Controller inhibit
DI01 Enable
DI02 Reset (move clear of LS)
DI04 Reference cam
DI03 Limit switch CW
DI05 Limit switch CCW
DI10 Hoist position 0 mm

DI11 " 1000 mm
DI12 " 2000 mm
DI13 - - -
DI14 (Jog CW)
DI15 (Jog CCW)
DI16 Reference travel
DI17 Start positioning
Terminal wiring of outputs:----------------

DB00 Brake
DO01 Ready
DO16 "IPOS in position"
DO17 "IPOS reference"
------------------------------------------
Program start
==========================================
Subroutine calls Subroutine calls
====================================
SETINT ERROR M10 Activate interrupt routine for hardware limit switch processing
M100: CALL M50 Reset/move clear of limit switch
JMP LO I0001000000000000, M101 Main program
CALL M20
DI16 = 1 Reference travel
M101: JMP LO I0000010000000000, M102
DI15 = 1 Jog CW
CALL M30
DI14 = 1 Jog CCW
M102: JMP LO I0000100000000000, M103
CALL M40
M103: JMP UNCONDITIONED , M100
------------------------------------------
Subroutine Reset / Move clear of limit switch Reset/move clear of limit switch
==========================================
M10: JMP HI I0000000000110000, M1 If drive has not moved onto limit switch (DI05/DI06 Limit switch
M3: JMP HI I0000000000110000, M2 CW/CCW), then return to branch distributor. If it has, then travel
ASTOP IPOS ENABLE unlock and wait until drive has moved clear of limit switch (DI02
JMP UNCONDITIONED , M3 – input terminal function "Reset")
M2: ASTOP TARGET POSITION Then stop drive by setting target position = current position
M1: RET
------------------------------------------
Sample Programs 9
Subroutine Reference travel Reference travel

==========================================
M20: ASTOP IPOS ENABLE Travel unlock
GO0 U,NW, ZP Reference travel, non-wait, start on zero pulse,
M22: JMP LO I0000000000000001, M21 provided "Controller inhibit" = 0
SET H319 = 0 and "IPOS reference" output = 0
BMOV H319.0 = H482.10
JMP H319 == 0 , M22
M21 : ASTOP TARGET POSITION
RET
------------------------------------------
Subroutine Jog mode Option: Subroutine (e.g. jog mode)
==========================================
M30: RET Jog CW
M40: RET Jog CCW
------------------------------------------
Main program Hoist positioning Main program: Hoist positioning
==========================================
M50: JMP LO I0000000001000000, M51 If input DI10 is set,
GOA WAIT #0 mm then move to position 0 mm
M53: RET
------------------------------------------
END
9 Sample Programs
9.3 Sample program "Jog mode"

• Properties:
- Travel in two directions with binary inputs Jog+ / Jog-
- Adjustable travel speeds and ramps
- Uni-directional travel possible
- No reference travel required
- Compliance with travel range limits (software limit switches)
Uni-directional movement is possible in two directions using two binary inputs Jog+ (DI14) and
Jog- (DI15). No reference travel is required. If the drive has been referenced and the software
limit switches set, travel only takes place within these limits. Movement only takes place when
there is one "1" signal at one of the jog terminals. The drive is moved away from a hardware limit
switch with which it comes into contact by means of a "1" signal at the "RESET" input (DI02).
• Settings:
The detailed configuration of the inputs/outputs and the variables used in the program is docu-
mented in the remark section of the program source code.

IPOS input -
IPOS input -
IPOS input -
IPOS input -
IPOS input Jog positive
IPOS input Jog negative
01885AXX

Sample Programs 9

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

- Uni-directional travel possible
- No axis referencing required
- Range limits compliance / software LS
- Travel speeds / ramps from H310 on
- Jog+ (DI14) / Jog- (DI15) inputs
Parameter setting (P600) of inputs / outputs:

In inverted commas: indicated function
Without inverted commas: IPOS INPUT/OUTPUT

DI00 "Controller inhibit"
DI01 "Enable"
DI02 "Fault reset" (move clear of LS)
DI04 "Reference cam"
DI03 "Limit switch CW"
DI05 "Limit switch CCW"
DI14 Jog CW
DI15 Jog CCW
DI16 Start reference travel
DI17 (Start positioning)

DB00 Brake
DO01 Ready

Variables used:--------------------
H310 = Velocity jog mode (1/10 rpm)
H311 = "CCW"
H312 = Acceleration ramp (ms)
H313 = Not active
= Deceleration ramp = P911/P912
H316 - H319 = Auxiliary jog variables
******************************************
------------------------------------------
Program start
==========================================
Initialization
------------------------------------------
SET H310 = 5000 Set speed and acceleration values for jog mode (see
SET H311 = 5000 remarks)
SET H312 = 2000
SET H313 = 2000
------------------------------------------
9 Sample Programs

==========================================
SETINT ERROR M10 Activate interrupt routine for hardware limit switch pro-
M100: JMP LO I0001000000000000, M101
cessing Reset/move clear of limit switch
CALL M20 DI16 = 1
M101: JMP LO I0000010000000000, M102 Reference travel
CALL M30 DI15 = 1
M102: JMP LO I0000100000000000, M103 Jog CW
CALL M40 DI14 = 1
M103: JMP UNCONDITIONED , M100 Jog CCW
------------------------------------------
==========================================
M10 : JMP HI I0000000000110000, M1 If drive has not moved onto limit switch (DI05/DI06 Limit
M3 : JMP HI I0000000000110000, M2 switch CW/CCW), then return to branch distributor. If it
ASTOP IPOS ENABLE has, then travel unlock and wait until drive has moved
JMP UNCONDITIONED , M3 clear of limit switch (parameterized "Reset" input function
M2 : ASTOP TARGET POSITION DI02)
M1 : RET Then stop drive by setting target position = current posi-
------------------------------------------ tion
==========================================
M20 : ASTOP IPOS ENABLE Travel unlock
GO0 U,NW, ZP Reference travel, non-wait, start on zero pulse,
M22 : JMP LO I0000000000000001, M21 provided "Controller inhibit" = 0
SET H309 = 0 and "IPOS reference" output = 0
BMOV H309.0 = H482.10
JMP H309 == 0 , M22
RET
------------------------------------------
Subroutine Jog mode Jog mode
==========================================
Jog mode (software LS interrogat. active) Software limit switch interrogation active
------------------------------------------
M35 : SETSYS POS.SPEED C(C)W = H310 Set speed
SETSYS POS. RAMP = H312 Set ramp time
SET H319 = 0
BMOV H319.0 = H482.10 Interrogate: Has axis been referenced? (Software LS
JMP H319 == 0 , M36 active)
SET H319 = H496
OR H319 | H497 Interrogate: Do both software ranges = 0? (Software LS
JMP H319 == 0, M36 not active)
SET H319 = 1
SET H317 = H496 If software LS active, then set flag H319=1
SET H318 = H497 and load jog travel variables (H317) with the software
M36 : RET travel ranges (system variables H496 & H497)
Sample Programs 9
------------------------------------------
Jog + Jog CW
------------------------------------------
M30 : JMP LO I0000010000000000, M31 Move for as long asDI14 = 1 and
JMP HI I0000100000000000, M31 DI15 = 0,
CALL M35 interrogate: Is software limit switch active?
JMP H319 == 1 , M32
GETSYS H317 = ACT.POSITION Add 1000 motor revolutions to current actual position and
ADD H317 + 4096000 move to result as new target position
M32 : ASTOP IPOS ENABLE
GOA NOWAIT H317
RET
------------------------------------------
Jog - Jog CCW
------------------------------------------
M40 : JMP LO I0000100000000000, M41 Move for as long asDI14 = 0 and
JMP HI I0000010000000000, M41 DI15 = 1,
CALL M35 interrogate: Is software limit switch active?
JMP H319 == 1 , M42
GETSYS H318 = ACT.POSITION Add 1000 motor revolutions to current actual position and
SUB H318 - 4096000 move to result as new target position
M42 : ASTOP IPOS ENABLE
GOA NOWAIT H318
RET
------------------------------------------
End of Jog mode
------------------------------------------
END
9 Sample Programs
9.4 Sample program "Table positioning"

• Properties:
- Binary coded selection of 16 table positions
- Binary coded output of the currently selected table position
- Definite signal when the selected table position is reached
The first 4 binary inputs of the DIO11A option can be used for selecting 16 table positions (travel
variables H000 – H015) in binary coded format. When a travel variable number is selected (table
pointer), it is always represented at the first 4 binary inputs of the DIO11A in binary coded for-
mat.
Reference travel must be activated using input DI16 "Reference travel" before it is possible to
move to table positions. Input DI17 "Start positioning" enables the travel job to the table position
or interrupts it (in the event of "Controller inhibit" and "Enable" = "1" signal). When a new table
position is selected, it is advisable to set input DI17 to a "0" signal until it is certain that all the
bits of the table pointer have been set!
A "1" signal at output DO15 "Table position valid" indicates that the selected table position has
been reached. This output is immediately reset when a new table position is selected. By addi-
tionally evaluating output DO16 "IPOS in position", it is also possible to detect reliably when the
selected table position is exited, even when the controller is deactivated ("Controller inhibit" =
"0").
The drive is moved away from a hardware limit switch with which it comes into contact by
means of a "1" signal at the "RESET" input (DI02).
• Settings:
The detailed configuration of the inputs/outputs (see below) and the variables used in the pro-
gram is documented in the remark section of the program source code.
The table positions must be written into the variables (H00 – H15) with the MX_SHELL PC user
interface, the keypad or via a bus system. This means the variables are stored in the non-volatile
memory.
Notes:
The user travel units numerator and denominator in the position window header are not relevant
here because the position values of travel variables are always evaluated in increments (4096
increments/motor revolution).
Sample Programs 9

IPOS input Variable pointer bit 2'0
IPOS input " 2'1
IPOS input " 2'2
IPOS input 2'3
IPOS input (Jog positive)
IPOS input (Jog negative)
01885AXX

DO10 DIO11A IPOS output Variable pointer bit 2'0
DO11 DIO11A IPOS output " 2'1
DO12 DIO11A IPOS output " 2'2
DO13 DIO11A IPOS output 2'3
DO15 DIO11A IPOS output Table position valid

9 Sample Programs

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

- The first 4 inputs of the DIO11A option
are used for selecting the positions in
the corresponding variables 0 ... 15 in
binary coded format.
- Input DI17 (X22:17) is used for enabling
the selected travel command.
Parameter setting of inputs / outputs:

In inverted commas: function indicated
Without inverted commas: IPOS INPUT/OUTPUT

DI00 "Controller inhibit"
DI01 "Enable"
DI02 "Fault reset" (move clear of LS)
DI03 "Reference cam"
DI04 "Limit switch CW"
DI05 "Limit switch CCW"
DI10 Variable pointer bit 2’0

DI11 2’1
DI12 2’2
DI13 2’3
DI14 (Jog CW)
DI15 (Jog CCW)
DI16 Start reference travel
DI17 Start positioning

DB00 Brake
DO01 Ready
DO10 Variable pointer bit 2’0

DO11 2’1
DO12 2’2
DO13 2’3
DO14 -
DO15 Table position reached
Variables used:--------------------
H300 = Travel speed CW (1/10 rpm)
H301 = Travel speed CCW (1/10 rpm)
H302 = Acceleration ramp CW (ms)
H303 = Deceleration ramp CCW (linear)
H320 - H324 = Auxiliary variables
******************************************
------------------------------------------
Program start
==========================================
Initialization
------------------------------------------ Set speed and acceleration values for table positioning (see vari-
SET H300 = 15000 able description in the remarks for the program source code)
SET H301 = 15000
SET H302 = 1000
SET H303 = 1000
------------------------------------------
Sample Programs 9

==========================================
SETINT ERROR M10 Activate interrupt routine for hardware limit switch processing
M100: CALL M50 Reset/move clear of limit switch
JMP LO I0001000000000000, M101 Main program
CALL M20 DI16 = 1
M101: JMP LO I0000010000000000, M102 Reference travel
CALL M30 DI15 = 1
M102: JMP LO I0000100000000000, M103 Jog CW
CALL M40 DI14 = 1
M103: JMP UNCONDITIONED , M100 Jog CCW
------------------------------------------
==========================================
M10 : JMP HI I0000000000110000, M1 If drive has not moved onto limit switch (DI05/DI06 Limit switch
M3 : JMP HI I0000000000110000, M2 CW/CCW), then return to subroutine calls. If it has, then travel
ASTOP IPOS ENABLE unlock and wait until drive has moved clear of limit switch
JMP UNCONDITIONED , M3 (parameterized "Reset" input function DI02)
M2 : ASTOP TARGET POSITION Then stop drive by setting target position = current position
M1 : RET
------------------------------------------
==========================================
M20 : ASTOP IPOS ENABLE Travel unlock
AND H480 & FFFFFFF0 hex Delete output binary coded table position
BCLR H480.5 = 0 Delete output "Table position valid"
GO0 U,NW, ZP
M22 : JMP LO I0000000000000001, M21 Reference travel, non-wait, start on zero pulse,
SET H319 = 0 provided "Controller inhibit" = 0
BMOV H319.0 = H482.10 and "IPOS reference" output = 0
JMP H319 == 0 , M22
RET
------------------------------------------
Subroutine Jog mode Option: Subroutine (e.g. jog mode)
==========================================
M30 : RET Jog CW
M40 : RET Jog CCW

9 Sample Programs
Main program Table positioning Main program: Table positioning

==========================================
Check whether axis is referenced
------------------------------------------ Movement to table positions only takes place if the drive is refer-
M50 : SET H321 = 0 enced
BMOV H321.0 = H482.10 (DO17 = 10 bit position in output terminal system variable H482;
JMP H321 != 0, M51 parameterized to "IPOS reference")
RET
------------------------------------------
Set travel speed and ramp
------------------------------------------
M51 : SETSYS POS.SPEED C(C)W = H300 Set travel speed,
SETSYS POS. RAMP = H302 acceleration and deceleration ramp
------------------------------------------
Read variable pointer into variable H320
------------------------------------------
SET H320 = H483 Select table pointer (travel variable no.) in binary coded format
ASHR H320 >> 6 with 4 inputs (DI10 – DI13)
AND H320 & F hex
------------------------------------------
Check output "Table position reached"
------------------------------------------
JMP H322 == H320, M54 If the table pointer was changed,
BCLR H480.5 = 0 then reset "Table position valid" output
M54 : SET H322 = H320 Store current table pointer in comparison variable
------------------------------------------
Output variable pointer in binary coded format
------------------------------------------
SET H323 = H320 Write selected table pointer to output terminals (DO10 – DO13)
SET H324 = H480 without altering other outputs of the output variable (H480)
AND H324 & FFFFFFF0 hex
OR H323 | H324
SET H480 = H323
------------------------------------------
Table positioning enable
------------------------------------------ If DI17 = 1, then travel to position value of selected travel vari-
M53 : JMP LO I0010000000000000, M52 able, else drive stop
ASTOP IPOS ENABLE Reset "Table position selection valid" signal
GOA NOWAIT [H320] Revoke travel lock
JMP NOT IN POSITION, M53 Travel to table position,
BSET H480.5 = 1 until position is reached or DI17 = 0
JMP UNCONDITIONED , M55 Set "Table position selection valid" signal
------------------------------------------
M52 : ASTOP HOLD CONTROL
M55 : RET Drive stop
------------------------------------------
End table positioning control
------------------------------------------
END
Fault Messages 10
10 Fault Messages
10.1 Processing
The fault memory (P080) stores the last five fault messages (faults t-0 – t-4). The fault message of
longest standing is deleted whenever more than five fault messages have occurred. The following
information is stored when a malfunction takes place:
Fault • Status of the binary inputs/outputs • Operating status of the inverter • Inverter status • Heat
sink temperature • Speed • Output current • Active current • Unit utilization • DC link voltage • ON
hours • Enable hours • Parameter set • Motor utilization.
There are three shut-off responses depending on the fault; the inverter is inhibited when in fault
status.
• Instant disconnection:
The unit can no longer brake the drive; the output stage goes to high resistance in the event of a
fault and the brake is applied (DBØØ "/Brake" = "0").
• Rapid stop:
The drive is braked with the stop ramp t13/t23. Once the stop speed is reached, the output stage
goes to high resistance and the brake is applied (DBØØ "/Brake" = "0").
• Emergency stop:
The drive is braked with the emergency stop ramp t14/t24. Once the stop speed is reached, the
output stage goes to high resistance and the brake is applied (DBØØ "/Brake" = "0").
RESET: A fault message can be acknowledged by:

• Switching the mains power off and on again.
• Reset via input terminals, i.e. via an appropriately assigned binary input (DIØ1 – DIØ5 with the
basic unit, DI1Ø – DI17 with the DIO11A option).
• Manual reset in MX_SHELL (P840 = "Yes" or [Parameter] / [Manual reset]).
• Manual reset using the DBG11A (pressing the <E> key in the event of a fault gives direct access
to parameter P840).
• Auto reset performs up to five unit resets with an adjustable restart time. Not to be used with
drives where an automatic restart represents a risk of injury to people or damage to equipment.
Moving away from hardware limit switches:

After a reset, the drive automatically moves clear of a hardware limit switch with which it has come
into contact (exception: mains power off and on). This movement clear is performed at reference
travel speed 2. Once the drive has moved clear of the limit switches, it moves to its target position
(H492) again with "controller inhibit" and "enable" = 1. The target position must be set within the
limit switches in order to avoid the drive moving up to the limit switches again (e.g. using the
ASTOP TARGET POSITION command).
The drive's response after RESET depends on the type of fault (FAULT or WARNING), as fol-
lows:
FAULT After a fault reset: Reaction as for power off, IPOSplus® program; reference position,
outputs, parameters set by IPOSplus® (SETSYS command) and variables are reset
(program starts in line 1).
WARNING Also after a fault reset: IPOSplus® program; reference position, outputs, parameters
set by IPOSplus® (SETSYS command) and variables are retained (program resumes).

10 Fault Messages
10.2 List of faults

A dot (•) in the "P" column means the response can be programmed using machine parameters
(P83_ "Fault response") or with the "SETFR" IPOSplus® command.
A circle (s) in the "P" column means the response can only be programmed with the "SETFR"
IPOSplus® command.
Fault Name Response P Possible cause Action
code
00 No fault -
01 Over-current Immediate - Short circuit on output - Rectify short circuit
shut-off - Motor too big - Connect smaller motor
FAULT - Defective output stage - Fault cannot then be reset,
contact SEW Service for advice
03 Ground fault Immediate Ground fault - Rectify ground fault
shut-off - in feeder cable - Contact SEW Service for advice
FAULT - in inverter
- in motor
04 Brake Immediate - Regenerative power excessive - Extend deceleration ramp
chopper shut-off - Interruption in braking resistor circuit - Check feeder cable to brake resis-
FAULT - Short circuit in braking resistor cir- tor
cuit - Check technical data of brake
- Braking resistor resistance too high resistor
- Brake chopper defective - Fit new MOVIDRIVE®
07 DC link over- Immediate DC link voltage too high - Extend deceleration ramp
voltage shut-off - Check feeder cable to br. resistor
FAULT - Check technical data of br. resis-
tor
08 n-monitoring Immediate s - Speed controller or current controller - Reduce load
shut-off (in VFC operating mode) operating at - Increase deceleration time setting
FAULT setting limit (P501 or P503)
- Encoder not connected correctly - Check encoder connection
- Check encoder voltage supply
- Check current limitation
- Increase length of ramps, if
appropriate
- Check motor cable and motor
- Check mains phases
09 Startup Immediate Inverter not yet commissioned for Perform commissioning for appro-
shut-off selected operating mode priate operating mode.
FAULT
10 IPOS - ILLOP Emergency Incorrect command detected during - Check program memory content
stop running of IPOS program and correct if necessary
FAULT - Load correct program into pro-
gram memory
11 Over- Emergency s Thermal overload of inverter Reduce load and/or ensure ade-
temperature stop quate cooling.
FAULT
13 Control signal Immediate Control signal source not defined or Set correct control signal source
source shut-off defined incorrectly (P101).
WARNING
14 Encoder Immediate - Encoder cable or shield not con- Check encoder cable and shield for
shut-off nected correctly correct connection, short circuit
FAULT - Short circuit/open circuit in encoder and open circuit.
cable
- Encoder defective
15 Internal 24V Immediate No internal 24 V power supply Check mains connection. Contact
shut-off SEW Service for advice if this reoc-
FAULT curs.
Fault Messages 10

code
17-24 System Immediate Inverter electronics disrupted. Possibly Check ground connections and
malfunction shut-off due to EMC interference. shields; improve them if necessary.
FAULT Contact SEW Service for advice if
this reoccurs.
25 EEPROM Rapid stop s Fault when accessing EEPROM Call up default setting, perform
FAULT reset and set parameters again.
Contact SEW Service for advice if
this reoccurs.
26 External ter- Emergency • External fault signal read in via pro- Eliminate specific cause of fault;
minal stop grammable input reprogram terminal if appropriate.
FAULT
27 Limit switches Emergency - Open circuit/both limit switches - Check wiring of limit switches
missing stop missing - Swap over limit switch connec-
FAULT - Limit switches swapped over in rela- tions
tion to motor sense of rotation - Reprogram terminals
28 Fieldbus Rapid stop • No master-slave communication took - Check master communication
timeout FAULT place within the configured response routine
monitoring period - Extend fieldbus timeout delay
(P819) / Switch off monitoring
29 Limit switch Emergency In IPOS mode, a limit switch was - Check travel range
reached stop reached - Correct user program
WARNING
31 TF sensor No • - Motor too hot, TF has tripped - Let motor cool down and reset
response - Motor TF not connected or connected fault
incorrectly - Check connections/link between
- Connection of MOVIDRIVE® and TF MOVIDRIVE® and TF
interrupted on motor - If no TF is connected:
- Jumper missing between X10:1 & Jumper X10:1 to X10:2
X10:2 With MDS:
With MDS: Jumper X15:9 to X15:5
- Connection between X15:9 and X15:5 - Set P834 to "No reaction"
missing
32 IPOS index Emergency Basic programming rules violated Check IPOS user program and cor-
overrun stop causing stack overflow in system rect.
FAULT
33 Setpoint Immediate Setpoint source not defined or defined Set correct setpoint source (P100).
source shut-off incorrectly
WARNING
35 Operating Immediate Operating mode not defined or defined Use P700 or P701 to set correct
mode shut-off incorrectly operating mode.
WARNING
36 No option Immediate - Type of option pcb not allowed - Use correct option pcb
shut-off - Setpoint source, control signal - Set correct setpoint source (P100)
FAULT source or operating mode not - Set correct control signal source
allowed for this option pcb. (P100)
- Set correct operating mode (P700
or P701)
37 System Immediate Fault in system software procedure Contact SEW Service for advice.
watchdog shut-off
FAULT
38 System Immediate System malfunction Contact SEW Service for advice.
software shut-off
FAULT

10 Fault Messages

code
39 Reference Immediate s - No reference cams Check type of reference travel which
travel shut-off - Limit switches not connected cor- is set and conditions required for it.
FAULT rectly
- Type of reference travel was altered
during reference travel
40 Boot synchro- Immediate Only with DPx11A or DRS11A: Fit a new option pcb if this reoc-
nization shut-off Fault during boot synchronization curs.
FAULT between inverter system and option
pcb
41 Watchdog Immediate Fault during communication between Contact SEW Service for advice.
option shut-off system software and option software
FAULT
42 Lag error Immediate • - Incremental encoder connected - Check incremental encoder con-
shut-off incorrectly nection
FAULT - Acceleration ramps too short - Increase length of ramps
- P-portion of positioning controller - Set P-portion to higher value
too small - Set speed controller parameters
- Speed controller parameters incor- again
rect - Increase lag error tolerance
- Value for lag error tolerance too small - Check encoder, motor and mains
phase wiring
- P302 does not exceed P913/P914 by - Check whether mechanical com-
10 % (only in IPOS operating mode) ponents can move freely; possibly
blocked up
43 RS-485 Rapid stop • Communication between inverter and Check connection between inverter
timeout WARNING PC interrupted and PC. Contact SEW Service for
advice if necessary.
44 Unit utilization Immediate Unit utilization (IxT value) exceeds - Reduce power output
shut-off 125 % - Increase length of ramps
FAULT - If above points are not possible:
use a larger inverter
45 Initialization Immediate No parameters set for EEPROM in Restore default settings. Call SEW
shut-off power section or parameters set incor- Service for advice if the fault still
FAULT rectly cannot be reset.
47 System bus Rapid stop • Fault during communication via sys- Check system bus connection
timeout FAULT tem bus
48 Hardware Immediate - Encoder signal for master faulty - Check encoder wiring
DRS shut-off - Hardware required for synchronous - Fit a new synchronous operation
FAULT operation is faulty board
50 Pos. HW limit No Only with DPx11A:
switch response - Drive has reached position of CW - Move out of limit switch range
limit switch using sense of rotation "CCW"
- Interruption in line between inverter - Check cabling
and CW limit switch
51 Neg. HW limit No Only with DPx11A:
switch response - Drive has reached position of CCW - Move out of limit switch range
limit switch using sense of rotation "CW"
- Interruption in line between inverter - Check cabling
and CCW limit switch
52 Positive soft- No Only with DPx11A:
ware limit response Travel command to a position outside - Check travel program and correct
switch travel range delimited by CW software if necessary
limit switch - Correct position of CW software
limit switch
- Deactivate CW software limit
switch by entering "0" position
Fault Messages 10

code
53 Negative soft- No Only with DPx11A:
ware limit response Travel command to a position outside - Check travel program and correct
switch travel range delimited by CCW soft- if necessary
ware limit switch - Correct position of CCW software
limit switch
- Deactivate CCW software limit
switch by entering "0" position
54 No reference No Only with DPx11A:
travel response Reference travel not performed with Perform reference travel.
"GO0" or "SET0" command
55 Machine No Only with DPx11A:
parameter response Incorrect input of a machine parameter Check machine parameter and cor-
(e.g. incorrect value range) rect it.
56 Missing No Only with DPx11A:
required HW response User program addresses a hardware Correct user program or insert nec-
item which is not fitted essary hardware into inverter.
57 No program No Only with DPx11A:
response Attempt was made to call up a non- - Modify program call
existent user program - Load program to be called up into
program memory
58 No record No Only with DPx11A:
number response Attempt was made to jump to a non- Correct user program.
existent record number in user pro-
gram
59 No subroutine No Only with DPx11A:
response Attempt was made to call up a non- - Correct subroutine call in user
existent subroutine in user program program
- Make available subroutine to be
called
60 Target posi- No Only with DPx11A:
tion outside response Travel command was transmitted in - Correct user program
user program which targets a position - Adapt travel range
outside travel range
61 Prog. speed No Only with DPx11A:
> Vmax response Speed entered in user program is - Adjust travel speed in user pro-
faster than maximum speed specified gram
in machine parameters - Adjust maximum speed in
machine parameters
62 FLASH- No Only with DPx11A:
EPROM DPx response Fault during write access to flash- Contact SEW Service for advice if
EPROM of DPx11A this reoccurs.
63 Division by No Only with DPx11A:
zero response Division by zero was performed in user Correct user program.
program using calculation operation
SET Hxx/Hyy
64 Subroutine No Only with DPx11A:
nesting response - Maximum nesting depth for subrou- - Alter program structure
tines reached
- Recursive subroutine call (program is - Correct user program
calling itself)
65 LM628 No Only with DPx11A:
command response Incorrect command to position con- Contact SEW Service if fault cannot
troller component be reset or occurs frequently.

10 Fault Messages

code
66 Prog. No Only with DPx11A:
memory full response Maximum capacity of program mem- - Delete programs from program
ory has been exceeded memory that are no longer
required
- If all programs in program mem-
ory are required: optimize pro-
gram contents
67 DPx remote No Only with DPx11A:
time response Communication interruption during Check connection between PC and
PC-controlled mode inverter.
68 Not at target No Only with DPx11A:
position response Specified target position was not - Check setting of P-portion and
reached within 5 seconds position window and set larger
- P-portion set too small values if appropriate
- Position window too small - Check whether mechanical com-
- Drive has encountered obstacle ponents can move freely
69 No feed No Only with DPx11A:
enable response No "Feed enable" signal at terminal Check wiring and signal level at ter-
X11:6 minal X11:6.
70 Timeout DPx- No Coded fault; only with DPA11A
SSI response
Code 1: SSI interface fault SSI module defective Contact SEW Service if fault cannot
be reset or occurs frequently.
Code 2: Communication fault SSI module defective Contact SEW Service if fault cannot
of SSI interface be reset or occurs frequently.
Code 3: Parity or power fail- - Encoder cable disrupted - Check encoder cable
ure fault from SSI encoder - Voltage supply disrupted - Check voltage supply
- Incorrect setting of machine parame- - Check machine parameters and
ters correct if necessary
Code 4: Lag error in SSI mod- Data transfer between encoder and Check connection cable and associ-
ule DPA11A disrupted ated shield.
71 Timeout DPx- No Coded fault; only with DPA11A
CAN response
Code 1: Timeout CAN CAN bus communication interrupted Check CAN bus connection.
Code 2: CAN receive buffer Systematic program error caused by Reduce number of write accesses
full excessively frequent writing on CAN to corresponding inverter in user
bus interface of an inverter program.
Code 3: CAN controller over- CAN controller malfunction Contact SEW Service if fault cannot
flow be reset or occurs frequently.
Code 4: CAN controller error Malfunction on CAN bus. Check wiring and user program.
Possibly, no nodes are present.
72 Index over- No Only with DPx11A:
flow response Fault with indexed variable index. Correct user program.
Offset variable Cxx greater than C99
selected.
73 Unauthorized No Only with DPx11A:
command response Command was transmitted which can- Check user program.
not be carried out in current status of
inverter. E.g.: transmitting the SAVE
command during a positioning pro-
cess.
74 Range limit No Only with DPx11A:
response Calculated setpoint position in incre- Check user program.
ments is greater than 230 and therefore
beyond range limit.
Fault Messages 10

code
77 IPOS control No s Only in IPOS operating mode:
word response Attempt was made to set an invalid - Check serial connection to exter-
FAULT automatic mode (via external control) nal control
- Check write values of external
control
78 IPOS SW limit No s Only in IPOS operating mode:
switches response Programmed target position is outside - Check user program
FAULT travel range delimited by software limit - Check position of software limit
switches switches
81 Start condi- Immediate Only in "VFC hoist" operating mode:
tion shut-off Insufficient current could be injected - Check commissioning data and
FAULT into motor during pre-magnetization repeat startup procedure if neces-
time: sary
- Motor rated power too small in rela- - Check connection between
tion to inverter rated power encoder and motor
- Motor cable cross section too small - Check cross section of motor
cable and increase if necessary
82 Output open Immediate Only in "VFC hoist" operating mode:
shut-off - Two or all output phases interrupted - Check connection between
FAULT - Motor rated power too small in rela- encoder and motor
tion to inverter rated power - Check commissioning data and
repeat startup procedure if neces-
sary
84 Motor protec- Emergency • Motor utilization too high - Reduce load
tion stop - Increase length of ramps
FAULT - Extend pause times
85 Copy Immediate Fault when copying parameters Check connection between inverter
shut-off and PC.
FAULT
88 Flying start Immediate Only in "VFC n-CTRL" operating
shut-off mode:
FAULT Actual speed > 5000 rpm when inverter
enabled
92 DIP work Emergency s Only with DIP11A option:
area stop Work area of absolute encoder
FAULT exceeded
93 DIP encoder Emergency s Only with DIP11A option: - Check absolute encoder connec-
fault stop Absolute encoder fault tion
FAULT - Fit new absolute encoder
Table 13

11 Index
11 Index CPGE 82
CPGT 82
A CPLE 82
Absolute positioning GOA 67 CPLT 82
Absolutwertgeber 6 CPNE 82
Analog inputs 18 D
Reading 18 DIV 55
Analog outputs 18 DIVISION 55
Reading 18 E
Setting 18 EXCLUSIVE OR 55
Arithmetic commands 55 G
Auxiliary arithemthical operations GETSYS 72
MOD 55 GO0 66
NOT 55 GOA 67
GOR 67
B J
Binary inputs JMP 69
Controller inhibit 88 JUMP 69
Lim. switch CCW 88 L
Lim. switch CW 88 LOGICAL AND 82
Reference cam 88 LOGICAL NOT 82
Reference travel 88 LOGICAL OR 82
Reset 89 LOOP 71
Binary outputs LOOPB 71
Fault 89 LOOPE 71
IPOS in position 89 M
Ready 89 MOD 55
Bit commands 56 MODULO 55
BCLR 56 MOVLNK 57
BMOV 56 MUL 55
BMOVN 56 MULTIPLY 55
BSET 56 N
NO OPERATION 71
Command set NOP 71
A NOT 55
ADD 55 NOTL 82
AND 55 O
ANDL 82 OR 55
ARITHMETIC SHIFT RIGHT 56 ORL 82
ASHR 56 R
B
REM 71
BCLR 56 REMARK 71
BIT CLEAR 56 RET 71
BIT MOVE 56 RETURN 71
BIT MOVE NEG. 56 S
BIT SET 56 SCOM 62
BMOV 56 SET 74
BMOVN 56 SET FAULT REACTION 74
BSET 56 SET INDIRECT 75
C
SET INTERRUPT 75
CALL 69 SETFR 74
COMPARE EQUAL 82 SETI 75
COMPARE GREATER OR EQUAL 82 SETINT 75
COMPARE GREATER THAN 82 SHIFT LEFT 56
COMPARE LESS OR EQUAL 82 SHIFT RIGHT 56
COMPARE LESS THAN 82 SHL 56
COMPARE NOT EQUAL 82 SHR 56
COPY 72 SUB 55
CPEQ 82
112 MOVIDRIVE® IPOSplus®

Index 11
SUBTRACT 55 J
T Jump commands JMP 69
TASK2 71
W L
WAIT 71 Lag error window 32
X Logic operations
XOR 55 AND 55
Communication commands 57 ANDL 82
Comparison operations NOTL 82
CPGE 82 OR 55
CPGT 82 ORL 82
CPLE 82 XOR 55
CPLET 82 Loop commands LOOP 71
CPNE 82
Comparison operations CPEQ 82 M
Copy variables COPY 72 Machine zero 24
CTRL. WORD 44 Monitoring 31
MOVLINK 51
D
Data exchange via SCOM system bus 62 N
Data/parameter exchange via MOVLNK 57 No operation NOP 71
Diagnosis options 12
O
Digital inputs 15
Offset 48
Digital outputs 16
Reading 16 P
Setting 17 Parameters
DRS_Ctrl 45 Access to ... 14
DRS_Status 45 Position window 31
DRS11A Nullpunkt setzen 46 Positioning commands 14, 66
Positioning ramp 29
E
PROFIBUS 43
Editing variables 32
Program branches 13
externer Geber 34
Program commands 69
F Program header 13
Feldbus 39 Program line 14
Feldbus und DIO11A 41 Program loops 13
Feldbus und DIP11A 41 Programs
Freilauf 45 Creating 9
Fundamental arithmetical operations Loading 11
ADD 55 Saving 11
DIV 55 Starting/stopping 12
MUL 55 Prozessdaten, anwenderspezifische Codierung 40
SUB 55
R
G Ramp type 30
Gain X controller 29 Read system values GETSYS 72
Geberauswertung 6 REF. TRAVEL START 25
REFERENCE CAM 25
I Reference offset 25
Inkrementalgeber 6 Reference speed 25
Inkrementalgebernachbildung 6 Reference travel 24
inkrementelle Positionsvorgabe 39 Reference travel GO0 66
IPOS IN POSITION 31 Reference travel type 26
IPOS input 89 Relative positioning GOR 67
IPOS output 89 Remark REM 71
IPOS REFERENCE 25 Remarks 13
IPOS-OUTPUT 17 Resolver 6
IPOSplus control 4 Return RET 71

11 Index
S T0 RELOAD 84
Slip compensation 34 TARGET POS 85
Set commands 72 Target position 85
Fault response SETFR 74 TIMER 0 85
Indirect addressing SETI 74 Timer 0 reload 84
Interrupt SETINT 74 TIMER 1 85
System values SETSYS 74 Watchdog timer 85
Set commands variable SET 74 WD.TIMER 85
Setpoint selection 5 C
SHIFT commands Control word 44
ASHR 56 CTRL.WORD 44
SHL 56 D
SHR 56 DRS Control 45
Software limit switch 31 DRS CTRL. 45
Speed feedforward 29 DRS STATUS 45
Subroutine call CALL 69 S
Subroutines 13 SCOPE 474 83
Synchronlauf 44 SCOPE 475 83
System description 4 STAT.WORD 83
System values Status word 83
Access to ... 14 T
Touch Probe Position X/Y 86
System variable TP.POS.X/Y 86
System variable
ACT.POS 1 86 T
ACT.POS 2 86 Task 1 21
Actual position 1 86 Task 1 / task 2 13
Actual position 2 86 Creating a program 22
ANA.OUT IP 83 Differences 21
Analog output 83 Division 21
Control word 84 Task 2 21
CTRL.WORD 84 TASK2 71
DRS control 83 Technical data 5
DRS CTRL. 83 Travel distance factor DENOMINATOR 23
DRS STATUS 83 Travel distance factor NUMERATOR 23
Input level 84 Travel parameters 29
INPUT LVL 84 Travel speed 29
LAG DISTAN 85
Lag distance 85 U
LAG WINDOW 85 UNIT 24
OPT.OUT IP 83 Unit commands
Option output IPOSplus 83 ASTOP 78
Output level 84 MEM 78
OUTPUT LVL 84 TOUCHP 78
POS.WINDOW 85 WDOFF 78
Position window 85 WDON 78
REF.OFFSET 86 User travel units 23
Reference offset 86
SETP.POS. 85 V
Setpoint position 85 Variables 14
Setpoint position bus 86
W
SLS LEFT 86
Wait WAIT 71
SLS RIGHT 86
Watchdog function 81
Software limit switch CCW 86
Software limit switch CW 86
SP.POS.BUS 86
Standard output IPOSplus 84
STD.OUT IP 84
114 MOVIDRIVE® IPOSplus®

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MOVIDRIVE®

Electrical hazard, e.g. during live working.

Mechanical hazard, e.g. when working on hoists.

• General safety notes for IPOSplus® :

1.2 Characteristics of the IPOSplus® sequence and positioning control system

• Positioning with selectable travel speed and positioning ramp

1.3 Options in conjunction with IPOSplus®

1.4 Control of the MOVIDRIVE® inverter

1.5 Setpoint selection

1.6 Technical data

2 Position detection and positioning

2.2 Encoder combinations

Direct position control with motor encoder and external encoder

Direct position control with absolute encoder and motor encoder

Position control with incremental encoder on motor,

Processing of absolute encoder position in IPOSplus® program

3 Creating, Activating, Storing and Loading Programs

3.1 Creating programs

Inserting command lines

Copying, moving and deleting command lines as a block

Inserting complete programs

Renumbering jump flags

3.2 Saving/loading programs

Saving/loading user programs from/to a PC/inverter:

3.3 Starting/stopping programs

Diagnosis options in task 1

With the DBG11A keypad

Digital and analog inputs/outputs:

Access to system values/parameters:

Structure of a program line

jump target label;

second command operator;

operator (only with arithmetic commands)

first command operator;

command; defines the operation to be

jump address label;

4.2 Digital inputs/outputs

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

Jump address label reserved DIO11A/DIP11A Basic unit Jump target

Interrogation via system variables

4.2.2 Digital outputs

AND operation of H200 and H482

Setting the digital outputs:

Setting individual outputs

System variable Factor Terminal level

Survey of commands and parameters for setting/resetting digital outputs:

Setting several outputs

Assignment of H480 / H481 system variables to digital output terminals:

4.3 Analog inputs/outputs

Basic unit DIO11A option

Table 9: Survey of the analog inputs/outputs

Value range Variable value

Reading analog inputs/outputs:

Command: GETSYS Hxxx = ANALOG INPUTS / ANALOG OUTPUTS

Setting analog outputs:

4.4 Brief introduction to IPOSplus® programming by way of examples

4.4.1 Sample program "Control"

4.4.2 Sample program "Positioning"

3. Download the sample program:

4.5 Task 1 and task 2

Differences between task 1 and task 2

Useful division between task 1 and task 2

In order to guarantee cyclical processing, no positioning commands in task 2 should be extend-

Creating a user program with task 1 and task 2