MOVIKIT^® Software Modules for MOVI-C^® Automation Solutions

MOVIKIT^® OPC UA provides a basic solution for integrating and visualizing components. The functionality is implemented via the OPC UA communication protocol. MOVIKIT^® OPC UA provides an OPC UA server on the MOVI-C^® CONTROLLER progressive UHX65A. This can then be used to integrate third-party devices or visualizations (e.g. HMI, augmented reality, tablets).

A prerequisite for integrating third-party devices/visualizations is support of the OPC UA communication protocol and provision of an OPC UA client.

MOVIKIT^® Positioning Drive enables positioning applications with a permanently defined fieldbus interface. The software module mainly uses the basic functions of the application inverter in use by activating the respective function blocks depending on the application.

This means the scope of functions depends on the application inverter (e.g. with/without encoder feedback).

Overview of functions:

• Startup using a graphical user interface
• Dedicated parameter tree with all parameters required for operation
• Provision of the jog mode, velocity control, positioning (relative/absolute) and referencing operating modes
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® RapidCreepPositioning Drive is a software module for implementing classic "rapid/creep speed positioning" without a motor encoder. Positioning is performed by means of initiators used for changing from rapid to creep speed or for activating stop deceleration. Positioning applications in two directions are also possible and additional optional sensors can be used. No programming knowledge is required for startup and diagnostics, as the software module is integrated into the MOVISUITE^® engineering software.

Overview of functions:

• Startup using a graphical user interface
• Dedicated parameter tree with all parameters required for operation
• Provision of jog and referencing operating modes
• Various operating modes for infeed and outfeed as well as a reverse mode
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® Velocity Drive allows you to use applications with velocity control and a permanently defined fieldbus interface. The software module mainly uses the basic functions of the application inverter in use by activating the respective function blocks (such as FCB 09 Position control) depending on the application. This means the scope of functions depends on the application inverter (e.g. with/without encoder feedback).

Overview of functions:

• Startup using a graphical user interface
• Dedicated parameter tree with all parameters required for operation
• Provision of the velocity control operating mode
• Diagnostics monitor for monitoring and

MOVIKIT^® EncoderInterface is used to convert data from an external source(e.g. a distance encoder connected directly to the EtherCAT^® or any other variable) from system units to user units. This can involve both modulo and numerator/denominator processing of the synchronized data. In addition, the scope of functions includes the possibility of referencing and provides fail-safe offset and remainder management.

Overview of functions:

• Processing of modulo overflow in the data source
• Conversion of external data to LREAL with appropriate resolution (e.g. encoder connected to the inverter and user units configured on the inverter)
• Scaling of output variables (e.g. encoder connected to EtherCAT^® and scaling of user units on the MOVI-C^® CONTROLLER)
• Calculation of the derivatives to determine speed and acceleration
• Activation of filters for smoothing the data
• Consistent fail-safe storage of division remainders
• Consistent fail-safe storage of variables
• Dead time compensation

The MOVIKIT^® Motion add-on AntiSway expands the functionality of MOVIKIT^® MultiMotion, MOVIKIT^® MultiMotion Camming and MOVIKIT^® MultiAxisController by adding a function for suppressing vibrations in the drive train.

Using this function can suppress vibrations that have a dominant resonant frequency. In certain operating modes of the MOVIKIT^® Motion add-on AntiSway, it is also possible to suppress a variable resonant frequency.

The MOVIKIT^® Motion add-on AntiSway supports the following application types:

• TowerSway
• BellySway (in preparation)
• SpringSway, (in preparation)
• PendulumSway (in preparation)
• FluidSway (in preparation)

MOVIKIT^® MultiAxisController uses a software module to achieve mechanically coupled drives (loose or rigid coupling). It is possible to choose between correcting skewing or equalizing the torque of two drives. Licenses are available for using the various operating modes.

The software module replaces the conventional master/slave operation and offers expanded functionality compared to the position-synchronous master/slave setup.

The following functions are available with both the "Torque priority" torque mode and the "Skewing priority” skewing mode:

• Central control of referencing, limit switch evaluation and error handling for one axis group
• Central position control (slip compensation via distance encoder also possible)
• Use of a virtual master in the relative/absolute positioning, speed specification and direct coupling operating modes (MOVIKIT^® MultiMotion)
• Provision of the camming operating mode, in which the axis group follows a master signal in synchronization with a curve (in preparation)
• Combined encoder evaluation. See chapter "MOVIKIT^® MultiMotion add-on CombinedEncoderEvaluation (in preparation)"
• Central positioning control and conventional encoder evaluation.

MOVIKIT^® MultiAxisController Skewing makes it possible to correct skewing between mechanically coupled drives ("Skewing priority" operating mode).

Overview of functions:

• Phase-synchronous operation
• Alignment function can be used continuously
• Overload guard: Prevents asynchronicity in the event of a failure

Solution for the following problems:

• Loosely coupled drives
• Double spindle drives that tilt or jam quickly when in a different position

Replacement for the following features of generation B devices:

• Master/slave synchronous operation (1:1 gear ratio)
• FCB 22 multi-drive
• SyncCrane – functional replacement
• DriveSync – functional replacement for a gear ratio of 1:1

MOVIKIT^® MultiAxisController Torque makes it possible to equalize torque between mechanically coupled drives ("Torque priority" operating mode).

Overview of functions:

• Synchronization with torque distribution
• Torque distribution
• Load distribution
• Rigid coupling of the drives (formerly torque/slave)
• Load balancing (formerly master/slave)
• Speed synchronism
• Torque follower
• Torque coupling
• Load distribution between drives can be configured online
• Tension between drives can be configured online
• Electronic differential
• Parameterizable differential lock
• ASR (replaces the generation B ASR software)
• Deactivation of any axis group element for maintenance purposes

The MOVIKIT^® MultiAxisController add-on Cascading expands the functionality of the MOVIKIT^® MultiAxisController by offering the option of operating several axis groups in a cascade.

Cascading is necessary, for example, when each side of a gantry crane is designed with two drives. In this situation, each side of the gantry crane should be operated in the "Torque priority" mode, with both sides operating in "Skewing priority" mode on a higher level.

The MOVIKIT^® MultiAxisController add-on FourAxes expands the functionality of the MOVIKIT^® MultiAxisController by adding the option of controlling up to four drives.

• MOVIKIT^® MultiMotion is a software module with universal motion functionality.
• Interpolated operating modes for speed control, positioning and tracking
• Graphical configuration and diagnostics
• Touchprobe function
• Overlaying various motion profiles
• In the programming environment, it is possible to choose between a structured variable interface and
• an object-oriented program interface (OOP interface)

MOVIKIT^® MultiMotion Positioning is a software module for non-interpolating axes for configuring positioning, speed and torque parameters. MOVIKIT^® MultiMotion Positioning is suitable for controlling auxiliary axes (e.g. conveyor belts)

• Use with non-interpolating axes
• Configuration of speed parameters
• Configuration of torque parameters
• Configuration of positioning
• Referencing

MOVIKIT^® MultiMotion Positioning is included in the MOVIRUN® flexible license.

MOVIKIT^® MultiMotion Auxiliary Velocity is a software module for non-interpolating axes for configuring speed and torque parameters. MOVIKIT^® MultiMotion Auxiliary Velocity is suitable for controlling auxiliary axes in simple applications (e.g. conveyor belts).

• Use with non-interpolating axes
• Configuration of speed parameters
• Configuration of torque parameters

MOVIKIT^® MultiMotion Auxiliary Velocity is included in the MOVIRUN^® flexible license

MOVIKIT^® MultiMotion Camming offers the full scope of MOVIKIT^® MultiMotion plus a camming function.

• Configuration via graphical interfaces in the MOVISUITE^® engineering tool or through the application program
• Provision of motion functionalities for interpolating axes
  • Time-based motion profiles: Speed control, relative and absolute positioning, jog mode
  • Master-based motion profiles: Direct coupling, synchronous operation, cam

• Overlaying motion profiles
• Axis-based and profile-based (on-the-fly) referencing
• Provision of a touchprobe function
• Configuration of virtual axes
• Online configuration of curve descriptions
• Processing of curve function descriptions created with the MOVISUITE® CamEditor
• Automatic synchronizing/desynchronizing mechanisms
• Phase and amplitude correction on the fly
• Curve changeover on the fly
• Provision of an alignment function
• Configuration of user-specific profiles

One point of focus in the development of the MOVIKIT^® software modules lay on coordinated and synchronized movements. As a result, we can also offer you functions such as interpolated speed control, positioning and tracking, along with touchprobe and cam functionality,

for example for applications in packaging machines with cams, cross cutters or flying saws.

MOVIKIT^® MultiMotion Gearing is based on MOVIKIT^® MultiMotion and expands its functionality by adding position-related synchronous operation between two or more axes.

Overview of functions:

• Configuration via graphical interfaces in the MOVISUITE^® engineering tool or through the application program
• Provision of motion functionalities for interpolating axes
  • Time-based motion profiles: Speed control, relative and absolute positioning, jog mode
  • Master-based motion profiles: Direct coupling, synchronous operation
• Overlaying motion profiles
• Axis-based and profile-based (on-the-fly) referencing
• Provision of a touchprobe function
• Configuration of virtual axes
• Position- and time-dependent synchronization/desynchronization mechanisms and offset processing
• Provision of an alignment function

The MOVIKIT^® MultiMotion Camming add-on AntiSlosh expands the functionality of MOVIKIT^® MultiMotion Camming by adding a function for generating travel profiles that reduce the vibrations in liquids being moved in intermittent cycles. Configuration can be conducted via graphical interfaces in the MOVISUITE^® engineering tool or through the application program.

The MOVIKIT^® MultiMotion Camming add-on Interpolation expands the functionality of MOVIKIT^® MultiMotion Camming by adding a function for generating travel profiles based on the interpolation of setpoint tables. It makes it possible to interpolate up to 1024 setpoints with linear or cubic interpolation and up to 64 setpoints with spline interpolation. The setpoint tables can either be stored on the ASCII files on the MOVI-C^® CONTROLLER memory card or generated directly from the application program.

The MOVIKIT^® MultiMotion add-on CombinedEncoderEvaluation expands the functionality of a MOVIKIT^® software module (e.g. MultiMotion) by adding a combined encoder evaluation. This combined encoder evaluation makes it possible to combine a high-resolution motor encoder with a low-resolution distance encoder subject to dead time. The low-resolution distance encoder ensures a reliable reference to the machine even in the case of frictional connections between the motor and the machine.

The MOVIKIT^® MultiMotion add-on CombinedEncoderEvaluation uses this to generate a machine-referenced, dynamically usable and high-resolution encoder signal.

The MOVIKIT^® MultiMotion add-on PositionController expands the functionality of a MOVIKIT^® software module (e.g. MOVIKIT^® MultiMotion) by adding central positioning control and a conventional encoder evaluation. When the MOVIKIT^® MultiMotion add-on PositionController is used in combination with the MOVIKIT^® MultiMotion "CombinedEncoderEvaluation" add-on, a combined encoder evaluation can be used as data source.

MOVIKIT^® Robotics forms the software basis for controlling a robot. MOVIKIT^® Robotics provides a wide range of models for parameterization (e.g. determining dimensions).

• Operation via the MOVISUITE^® RobotMonitor or from the IEC program
• Integrated, automatically generated 3D simulation of the robot and its paths in MOVISUITE^® RobotMonitor
• Following types of predefined kinematic models with 2 joint axes: gantry robot, delta robot, SCARA, mixed designs
• Manual mode (jog, program) and automatic mode (program)
• Jog mode joint axes/Cartesian
• Override function
• Tool transformation
• Robot programming with the SEW Robot Language (SRL) and a teach-in function
• Storage of 20 programs with several hundred motion commands per program
• Step mode (set, movement)
• Linear interpolation with jerk-limited blending
• Explicit coordination or variable poses
• Variables of the types BOOL, REAL and POSE can be read and written in IEC
• Control structures (IF, WHILE)
• CallFunctions for the synchronized execution of IEC code

MOVIKIT^® Robotics is an individual license for one robot.

The MOVIKIT^® Robotics add-on Circle expands the functionality of MOVIKIT^® Robotics by adding the option of circular interpolation. The parameters for the circle segment can be set in various ways:

• Circle center and angle
• Circle center and end-point of the circle segment
• Intermediate point on the circle segment and end-point of the circle segment
• Radius and angle
• Radius and end-point of the circle segment

The MOVIKIT^® Robotics add-on ConveyorTracking expands the functionality of MOVIKIT^® Robotics by adding the option for interpolation in moving coordinate systems.

Applications include e.g. removing parts from a conveyor belt and placing them in a static environment or the direct transfer of goods between several conveyor belts.

The MOVIKIT^® Robotics add-on MediumModels expands the functionality of MOVIKIT^® Robotics by adding the option of configuring kinematic models with three or four joint axes. This includes kinematic models of the type gantry robots, roller gantries, delta robots, tripods, SCARA, and mixed designs. The corresponding 3D visualizations of the kinematic models are included in the scope of functions.

The MOVIKIT^® Robotics add-on Touchprobe expands the functionality of MOVIKIT^® Robotics by adding the option of measuring the current Cartesian position or conducting true-to-path sensor-based positioning when triggering a sensor or when there is a change in the status of a BOOL variable.

Applications for the touchprobe function include palletizing or depalletizing where the height of the parts is variable or unknown and the sensor-based execution of actions.

Overview of functions:

• Touchprobe functions: Measurement and sensor-based positioning
• Registration and deregistration of the touchprobe function at any point of the motion path
• Several registrations on a single robot program
• Parameterization of the event source, edge, repetition of events (e.g. several measurements) and measurement direction
• Extensive diagnostics via registration, actuation of the trigger, and touchprobe position in the RobotMonitor and in the 3D simulation

The MOVIKIT^® Power and Energy Solutions DirectMode, combined with an MDP92A power supply module or an MDE90A energy converter (in preparation) from the "Power and Energy Solutions" product range enables simple, programmable power supply to inverters of the MOVIDRIVE^® modular product range. The MOVIKIT^® Power and Energy Solutions DirectMode is particularly designed for applications with no energy storage unit. Overview of functions:

• Communication of the MOVI-C^® CONTROLLER with the
• MDP92A power supply module and MDE90A energy converter (in preparation)
• Acquisition of the power ratings for the grid supply and axis module
• Acquisition of the power rating of external AC consumers
• Dynamically adjustable maximum AC or DC grid supply power rating
• Dynamically adjustable current limiting
• Dynamically adjustable DC link voltage (up to 800 V)
• Provision of status information (phase failure or power failure, external conductor voltages
• and phase current) for the AC grid (MDP92A only)
• Flexibly usable energy meters with wide-ranging functionality
• Scope and data logging functions for temporal recording of e.g. performance and energy data

The MOVIKIT^® Power and Energy Solutions EnergyMode enables highly efficient energy supply solutions with energy storage decoupled from the DC link and simple supply from the AC grid (bridge rectifier).

The energy storage unit is not directly connected to the DC link, but rather via an MDE90A energy converter from SEW's "Power and Energy Solutions" product series.

This opens up benefits in terms of deeper storage discharge and smaller storage design. Software support at the control level is provided by MOVIKIT^® EnergyMode.

Overview of functions:

• Communication of the MOVI-C^® CONTROLLER with the MDE90A energy converter
• Dynamically adjustable DC link voltage (up to 800 V) or adjustable state of charge including definition of the working range
• Variable control regarding DC link or storage unit with dynamically adjustable power or current limitation
• Acquisition of axis module power ratings and storage unit power rating
• Acquisition of the power rating of external AC consumers
• Monitoring of the energy storage units by querying via the diagnostic interfaces (e.g. current temperature of the storage unit or signals for overtemperature and overvoltage)
• Automatic synchronization and activation of the energy storage unit
• Fieldbus interface for communication with higher-level controllers

The MOVIKIT^® Power and Energy Solutions PowerMode, combined with an MDP92A power supply module or an MDE90A energy converter (in preparation) from SEW's "Power and Energy Solutions" product range enables highly efficient power supply solutions for inverters of the MOVIDRIVE^® modular product range.

This MOVIKIT^® is therefore particularly designed for applications with energy storage units that are switched directly in the DC link. The MOVIKIT^® Power and Energy Solutions PowerMode offers the functionality of MOVIKIT® Power and Energy Solutions DirectMode, plus enhancements designed specifically for the application scenario described.

Overview of additional functions:

• Dynamically adjustable state of charge for the storage unit, including definition of the working range
• Power-regulated discharge of the DC link (MDP92A only)
• Automatic synchronization and activation of the energy storage unit
• Monitoring of the energy storage units by querying via the diagnostic interfaces (e.g. current temperature of the storage unit or signals for overtemperature and overvoltage, depending on the storage unit)
• Determination of the remaining runtime after power failure

MOVIKIT^® Gearing for synchronous operation applications with permanently defined fieldbus interface. In addition to the Gearing mode for synchronous operation applications, the software module offers all the basic modes familiar from MOVIKIT^® "Positioning" (jog mode, velocity control, positioning mode, referencing mode). With MOVIKIT^® Gearing, the inverter is operated interpolated in all modes. Overview of functions:

• Startup via graphical interfaces in the MOVISUITE^® engineering tool
• Dedicated parameter tree with all parameters required for operation
• Provision of the jog mode, velocity control, positioning (relative/absolute), referencing and synchronous operation operating modes
• Position- and time-dependent synchronization/desynchronization mechanisms and offset processing
• Provision of an alignment function
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® Positioning for positioning applications with a permanently defined fieldbus interface. The software module mainly uses the basic functions of the application inverter in use by activating the respective function blocks (such as FCB 09 Position control) depending on the application. This means the scope of functions that can be used depends on the application inverter in use (e.g. encoder feedback available). Overview of functions:

• Startup using a graphical user interface
• Provision of the jog mode, velocity control, positioning (relative/absolute) and referencing operating modes
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® Velocity for applications with velocity control and permanently defined fieldbus interface. The software module mainly uses the basic functions of the application inverter in use by activating the respective function blocks (such as FCB 09 Position control) depending on the application. This means the scope of functions that can be used depends on the application inverter in use (e.g. encoder feedback available). Overview of functions:

• Startup using a graphical user interface
• Provision of the jog mode, velocity control, positioning (relative/absolute) and referencing operating modes
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® StackerCrane effiDRIVE can be used for all storage/retrieval systems with up to four travel axes and four lifting axes. Optimizing the travel cycles of vertical lifting drives and horizontal travel drives achieves energy savings of up to 25%. Furthermore, the functionality can be expanded by adding multi-axis control or vibration damping.

The software modules "MOVIKIT^® StackerCrane MultiMotion" and "MOVIKIT^® StackerCrane MultiAxisController" are available for adding subordinate single axes or axis groups.

The MOVIKIT^® StackerCrane MultiAxisController software module is used to add several axes in one direction of travel under a MOVIKIT^® StackerCrane effiDRIVE^®. Single axes that are subordinate to the MOVIKIT^® StackerCrane MultiAxisController require the MOVIKIT^® StackerCrane MultiMotion software module.

MOVIKIT^® StackerCrane MultiMotion is used to add a single axis in one direction of travelunder a MOVIKIT^® StackerCrane effiDRIVE^®.