MOVIKIT^® software modules

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 utilizes the basic functions of the application inverter in use by activating the corresponding function blocks as appropriate to the application.

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

• Startup using a graphical user interface
• Dedicated parameter tree with all the parameters that are required for operation
• Provision of jog mode, velocity control, positioning mode (relative/absolute) and referencing mode
• 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 fast to slow 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.

• Startup using a graphical user interface
• Dedicated parameter tree with all the parameters that are required for operation
• Provision of jog mode and referencing mode
• 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 utilizes the basic functions of the application inverter in use by activating the corresponding function blocks (such as FCB 09 position control) as appropriate to the application. This means the scope of functions depends on the application inverter (e.g. with/without encoder feedback).

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

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.

The MOVIKIT^® Motion addon 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 exhibit a dominant resonant frequency. In certain operating modes of the MOVIKIT^® Motion addon AntiSway, it is also possible to suppress a variable resonant frequency.

The MOVIKIT^® Motion addon 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 each of 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 operating modes of relative/absolute positioning, speed specification and direct coupling (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 addon 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).

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

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 at a gear ratio of 1:1

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

The MOVIKIT^® MultiAxisController addon 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 (A-side and B-side) has been designed with two drives each. The drives of both the A-side and B-side ought to be in the "Torque priority" operating mode. At a higher level, the A-side and B-side ought to be run in the "Skewing priority" operating mode.

The MOVIKIT^® MultiAxisController addon 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
• The programming environment can include either a structured variable interface or an object-oriented programming interface (OOP interface)

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

• Use with non-interpolating axes
• Configuration of speed specifications
• Configuration of torque specifications
• Configuration of positioning steps
• 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 specifications. 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 specifications
• Configuration of torque specifications

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.

Coordinated and synchronized movements were a focal point of development work on the MOVIKIT^® software modules. As a result, we can also offer you functions such as interpolated speed control, positioning and tracking, along with Touchprobe and electronic cam functionality.

This is ideal for applications such as those 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.

The MOVIKIT^® MultiMotion Camming addon AntiSlosh expands the functionality of MOVIKIT^® MultiMotion Camming by adding a function for generating travel profiles that reduce vibrations when liquids are 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 addon 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 addon 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 when there are frictional connections between the motor and the machine.

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

The MOVIKIT^® MultiMotion addon 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 addon PositionController is used in combination with the MOVIKIT^® MultiMotion "CombinedEncoderEvaluation" add-on, a combined encoder evaluation can be used as data source.

MOVIKIT^® Robotics is the basic software for controlling a robot. MOVIKIT^® Robotics provides a wide range of models for parameterization (e.g. specifying dimensions).

The MOVIKIT^® Robotics addon Circle expands the functionality of MOVIKIT^® Robotics by adding the option of circular interpolation. The circle segment can be parameterized 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 addon ConveyorTracking expands the functionality of MOVIKIT^® Robotics by adding the option of 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 addon 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 addon 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.

• Touchprobe functions: Measuring and sensor-based positioning
• Registration and deregistration of the Touchprobe function at any point of the motion path
• Several registrations in one 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, when 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.

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

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

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

The MOVIKIT^® Power and Energy Solutions PowerMode, combined with an MDP92A power supply module or an MDE90A energy converter (in preparation) from SEW-EURODRIVE's "Power and Energy Solutions" product range and additional energy storage units, 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 to the DC link. The MOVIKIT^® Power and Energy Solutions PowerMode offers the functionality of MOVIKIT^® Power and Energy Solutions DirectMode, plus extensions designed specifically for the application scenario described.

• Dynamically adjustable state of charge on the energy storage unit, including definition of the work envelope
• 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 grid outage

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

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

• Startup using a graphical user interface
• Provision of jog mode, velocity control, positioning mode (relative/absolute) and referencing mode
• 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 utilizes the basic functions of the application inverter in use by activating the corresponding function blocks (such as FCB 09 position control) as appropriate to the application. This means the scope of functions that can be used depends on the application inverter in use (e.g. encoder feedback available).

• Startup using a graphical user interface
• Provision of jog mode, velocity control, positioning mode (relative/absolute) and referencing mode
• 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^®.

MOVIKIT^® Visualization basic ensures that the MOVI-C^® CONTROLLER progressive UHX65A can be equipped with a graphical user interface (visualization).

To achieve this, the software module must be installed on the Windows section (CFast OMW memory card) of the MOVI-C^® CONTROLLER. This ensures the data generated by the MOVI-C^® CONTROLLER can be visualized graphically. The local DisplayPort interface or web visualization – via a separate browser panel – can be used for the display.

MOVIKIT^® Visualization flexible is used to equip a separate Windows device with a graphical user interface (visualization). To achieve this, the software module must be installed on this Windows HMI device.

This makes it possible to create a 1:1 connection between the external Windows device and a MOVI-C^® CONTROLLER and the data from this controller can be depicted graphically.

The local options on the Windows device can be used for the display, or a separate browser panel can be connected via the integrated web server.

MOVIKIT^® Visualization multi is required to equip a separate Windows device with a graphical user interface (visualization). To achieve this, the software module must be installed on this Windows HMI device.

An external Windows device can thus combine the data from several MOVI-C^® CONTROLLERS and display this data collectively in graphical form.

The local options on the Windows device can be used for the display, or a separate browser panel can be connected via the integrated web server.

The MOVIKIT^® Visualization web software module is required to implement a display and diagnostics option on independent display units. The software module must be implemented on a MOVI-C^® CONTROLLER for this purpose.

This means that motion control functions and visualization can be implemented on a MOVI-C^® CONTROLLER.

A device capable of browsing the web, such as a web panel, tablet or smartphone, is all that is needed for display purposes.