IPOS® Positioning and sequence control

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Technical data

The basic functions and options of IPOS^plus® units ensure that the inverter
is no longer only an open-loop speed controller.

In fact, the positioning and sequence control
system integrated in MOVIDRIVE^® can often
take a great deal of load off the master PLC, or maybe even replace
it.

Reducing the central control offers SEW customers
significant potential savings in terms of hardware and the complexity
of electrical installation.

The programming work is divided between the
PLC and inverter control. However, users must familiarize themselves
with the system. This includes getting to know IPOS^plus® if you want to make effective
use of what it has to offer.

IPOSplus® features

The IPOS^plus® sequence control system makes it possible
to run a user program.

In conjunction with encoder feedback, the IPOS^plus® positioning control provides
a high-performance point-to-point positioning capability.

The program is run independent of encoder feedback and
operating mode.

MOVIDRIVE^® continues
to run the user program even if the unit develops a malfunction
(troubleshooting is possible in the user program).

IPOS^plus® can run
several user programs/tasks simultaneously, independent of one another.
Tasks can be interrupted using interrupts.

The user programs can contain
hundreds of program lines.

Easy-to-use and comprehensive control options for IPOS^plus® units.

Access to all available options:

Input/output card

Fieldbus interfaces

Synchronous operation card

Extensive communication options:

System
bus (S-bus)

RS-485

RS-232 (with interface adapters USS21A, UWS11A, UWS21A)

Fieldbus interfaces

Processing of binary and analog
input/output signals.

Positioning with adjustable
travel speed and positioning ramps.

Presetting for position, speed and
torque control loops with minimized lag error.

Absolute encoder processing.

1024 32-bit variables are available in the IPOS^plus® program. Of these variables,
128 are non-volatile.

With IPOS^plus®,
all inverter parameters can be read and written via communication commands.

2 touch probe inputs.

Ramp types:

Linear

Sine

Squared

Bus ramp

Jerk-limited

Electronic cam

I-synchronous operation

Status and monitoring functions:

Lag
error monitoring

Position reporting

Software and hardware limit
switches

Encoder function

9 reference travel types.

The following functions can be changed during movement:

Target position

Travel speed

Positioning ramp

Torque

“Endless positioning” is possible.

Override function.

The following technology functions can be controlled
with a virtual encoder:

Electronic cam

Internal synchronous operation

Programming in the compiler also offers:

Program creation in a standard
language

Symbolic variable names

Possibility of creating program modules that can be
used again in other projects

Clear, modular and structured programming is possible

Different programming techniques for loops

Compiler control using preprocessor commands

Standard structures

User-defined structures

Standard functions

Debugger for troubleshooting

Extensive options for making remarks (remarks are only
stored in the source code file)

Programming in the assembler offers:

Remark lines

Programming in user travel units (units are entered
in the program header)

Setpoint selection. Depending on the hardware and the
required setpoint, the following options are available for the specification:

Analog
setpoints

Fixed setpoints

Fixed setpoints and analog setpoints

Motor potentiometer

Master/slave operation with SBus

Master/slave operation with RS-485

DRS setpoint (only with the DRS11 option)

Fieldbus/fieldbus monitor setpoint (only with fieldbus
interface option)

IPOS^plus® position
setpoint

Technical data

Encoder resolution: MOVIDRIVE^® X15, motor encoder MOVIDRIVE^® X14, external encoder MOVIDRIVE^® X62, absolute encoder (including absolute encoder from HIPERFACE^®)	IPOS^plus® always operates with 4096 increments / motor revolution Prerequisites: Encoder resolution of 512, 1024 or 2048 pulses / motor revolution (any other encoder resolutions are not permitted) or resolver
Maximum program length / program memory:	MOVIDRIVE^® A (without MCH): 4 kByte MOVIDRIVE^® MCH: 8 kByte MOVIDRIVE^® B: 16 kByte 1 kByte equals approx. 200 to 250 assembler commands
Command processing time:	MOVIDRIVE^® A: Task 1: 1 assembler command / ms Task 2: 2 assembler commands / ms MOVIDRIVE^® B (the total in Task 1 und Task 2 ≤ 12 assembler commands / ms): Task 1: 1 to 10 assembler commands / ms Task 2: 2 to 11 assembler commands / ms Task 3: free computing time
Interrupts:	MOVIDRIVE^® A: 1 interrupt triggered by timer, error or touch probe interrupts task 1. MOVIDRIVE^® B: As MOVIDRIVE^® A, an additional 4 variable interrupts that interrupt task 2 and task 3.
Variables:	MOVIDRIVE^® A: 512 / MOVIDRIVE^® B: 1024, of these 128 (0 to 127) are protected from loss in case of a power failure in each case. Exception: MDS, MDV, MCS, MCV with the electronic cam technology option. Here, 16 variables (0 to 15) are protected from loss in case of a power failure. Value range: – 2³¹ to +(2³¹ – 1)
Touch probe inputs:	2 inputs, processing time 200 µs
Sampling interval of analog inputs:	1 ms
Sampling interval of binary inputs:	MOVIDRIVE^® A: 5 ms MOVIDRIVE^® B: 1 ms
Binary inputs/outputs:	MOVIDRIVE^® A: MOVIDRIVE^® B: DIO option: DIP option:	6 inputs / 3 outputs 8 inputs / 6 outputs 8 inputs / 8 outputs 8 inputs / 8 outputs
Analog inputs/outputs:	MOVIDRIVE^®: DIO option:	1 input (0 to 10 V, ±10 V, 0 to 20 mA, 4 to 20 mA) 1 input (0 to 10 V, ±10 V, 0 to 20 mA) 2 outputs (± 10 V, 0 to 20 mA, 4 to 20 mA)