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

MOVIKIT^® OPC UA is a basic solution for integrating and visualizing components. The function is implemented using the OPC UA communication protocol. MOVIKIT^® OPC UA provides an OPC UA server on the MOVI-C^® CONTROLLER progressive UHX65A. The server can be used for integrating third-party devices or for visualization purposes (such as HMI, augmented reality, tablets).

The requirement for integrating third-party devices/visualizations is support for the OPC UA communication protocol and a provided OPC UA client.

The MOVIKIT^® Positioning Drive allows you to use 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
• Own parameter tree with all parameters required for operation
• Provision of the operating modes jog, velocity control, positioning (relative/absolute), and referencing
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® RapidCreepPositioning Drive is a software module for implementing conventional "rapid/creep speed positioning" without motor encoder. Positioning is performed by means of initiators used for changing from rapid to creep speed or vice versa, 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 in the MOVISUITE^® engineering software.

Overview of functions:

• Startup using a graphical user interface
• Own parameter tree with all parameters required for operation
• Provision of the 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

The 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
• Own parameter tree with all parameters required for operation
• Provision of the velocity control operating mode
• Diagnostic monitor for observing and

The MOVIKIT^® EncoderInterface is used to convert data from an external source (e.g. A distance encoder connected directly to the EtherCAT^® or any variable) from system units into user units. Both a modulo and a numerator/denominator processing of the synchronized data can be performed. 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 extends the scope of functions of MOVIKIT^® MultiMotion, MOVIKIT^® MultiMotion Camming, and MOVIKIT^® MultiAxisController with a function for suppressing vibrations in the drive train.

Using this function makes it possible to suppress vibrations with a dominant resonant frequency. Even variable resonant frequencies can be suppressed in certain operating modes of the MOVIKIT^® Motion add-on AntiSway.

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

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

MOVIKIT^® MultiAxisController allows for implementing mechanically coupled drives (loose or rigid coupling) by means of a software module. Here, the user can select between the correction of a skew and the compensation of the torque in two drives. Licenses are available for using each of the various operating modes.

The software module replaces conventional master-slave operation and offers an expanded scope of functions compared to position-synchronous master/slave operation.

The following functions are available both in the torque mode "Torque priority" and the skewing mode "Skew priority":

• Central control of referencing, limit switch evaluation, and error handling of an axis group
• Central position control (slip compensation by means of a distance encoder is also possible)
• A virtual master is used in the relative/absolute positioning, velocity control, and tracking modes (MOVIKIT^® MultiMotion)
• Provision of the camming mode, where 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 position control and conventional encoder evaluation.

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

Overview of functions:

• Phase-synchronous operation
• Adjustment 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-axis drive
• SyncCrane – functional replacement
• DriveSync – functional replacement for a gear ratio of 1:1

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

Overview of functions:

• Synchronism 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 member for maintenance purposes

MOVIKIT^® MultiAxisController add-on Cascade extends the scope of functions of MOVIKIT^® MultiAxisController with the option of operating several axis groups in a cascade (nesting).

Cascading is required, for example, if each side of a gantry crane is equipped with 2 drives. In this case, each side of the gantry crane should be operated in the "Torque priority" operating mode and, on the higher level, both sides should be operated in the "Skew priority" operating mode.

MOVIKIT^® MultiAxisController add-on FourAxes extends the scope of functions of MOVIKIT^® MultiAxisController with the option of controlling up to 4 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 of different motion profiles
• In the programming environment, both a structured variable interface and
• an object-oriented program interface (OOP interface) are available

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

• Is used for non-interpolating axes
• Configuration of speed control
• Configuration of torque control
• 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 controls. MOVIKIT^® MultiMotion Auxiliary Velocity is suitable for controlling auxiliary axes in simple applications (e.g. conveyor belts).

• Is used for non-interpolating axes
• Configuration of speed control
• Configuration of torque control

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

MOVIKIT^® MultiMotion Camming includes the entirety of MOVIKIT^® MultiMotion plus an electronic cam function.

• Configuration via graphical user interface in the MOVISUITE^® engineering tool or via the user program
• Provision of motion functions for interpolating axes
  • Time-based motion profiles: Speed control, relative and absolute positioning, jog mode
  • Master-based motion profiles: Tracking, synchronous operation, electronic 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 adjustment function
• Configuration of user-specific profiles

One focal point in the development of the MOVIKIT^® software modules was coordinated and synchronized motions. In this way, we can offer you functions such as interpolated speed control, positioning, and tracking, as well as touchprobe and electronic cam functionality.

For example, for applications in packing machines with electronic cams, cross cutters, or flying saws.

MOVIKIT^® MultiMotion Gearing is based on MOVIKIT^® MultiMotion and extends its scope of functions with position-dependent synchronous operation between two or more axes.

Overview of functions:

• Configuration via graphical user interface in the MOVISUITE^® engineering tool or via the user program
• Provision of motion functions for interpolating axes
  • Time-based motion profiles: Speed control, relative and absolute positioning, jog mode
  • Master-based motion profiles: Tracking, 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 adjustment function

The MOVIKIT^® MultiMotion Camming add-on AntiSlosh extends the scope of functions of MOVIKIT^® MultiMotion Camming with a function for generating travel profiles to reduce oscillations in the cyclical movement of liquids. Configuration can be performed via graphical user interface of the MOVISUITE^® engineering tool or via the user program.

The MOVIKIT^® MultiMotion Camming add-on Interpolation extends the scope of functions of MOVIKIT^® MultiMotion Camming with a function for generating travel profiles based on the interpolation of curve point tables. With linear or cubic interpolation, up to 1024 curve points can be interpolated, and with spline interpolation, up to 64 curve points can be interpolated. Curve point tables can be stored either as ASCII files on the memory card of the MOVI-C^® CONTROLLER or they can be generated directly from the user program.

The MOVIKIT^® MultiMotion add-on CombinedEncoderEvaluation extends the scope of functions of a MOVIKIT^® software module (e. g. MultiMotion) with a combined encoder evaluation. This combined encoder evaluation allows for combining a high-resolution motor encoder and a low-resolution distance encoder subject to dead time. The low-resolution distance encoder reliably guarantees the reference to the machine even in the event of non-positive connections between the motor and the machine.

The MOVIKIT^® MultiMotion add-on CombinedEncoderEvaluation generates a machine-related, high-resolution encoder signal that can be used dynamically.

The MOVIKIT^® MultiMotion add-on PositionController extends the scope of functions of a MOVIKIT^® software module (e. g. MOVIKIT^® MultiMotion) with central position control and conventional encoder evaluation. When using the MOVIKIT^® MultiMotion add-on PositionController in combination with the MOVIKIT^® MultiMotion add-on "CombinedEncoderEvaluation", a combined encoder evaluation can be used as the data source.

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

• Operation via MOVISUITE^® RobotMonitor or the IEC program
• Integrated, automatic 3D simulation of the robot and its paths in the MOVISUITE^® RobotMonitor
• Predefined kinematic models with 2 joint axes of the following types: 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 performance of IEC code

MOVIKIT^® Robotics is a single license for one robot.

The MOVIKIT^® Robotics add-on Circle extends the scope of functions of MOVIKIT^® Robotics with the option of circular interpolation. The circle segment can be parameterized in different 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 extends the scope of functions of MOVIKIT^® Robotics with the option of interpolation in moving coordinate systems.

Applications are, for example, the removal of parts from a conveyor belt and depositing them in a static environment, or the direct transfer of goods between several conveyor belts.

The MOVIKIT^® Robotics add-on MediumModels extends the scope of functions of MOVIKIT^® Robotics with the option of configuring kinematic models with 3 or 4 joint axes. This includes kinematic models of the following types: Gantry robots, roller gantries, delta robots, tripods, SCARA, and mixed designs. The corresponding 3D visualizations of the kinematic models are contained in the scope of functions.

The MOVIKIT^® Robotics add-on Touchprobe extends the scope of functions of MOVIKIT^® Robotics with the option of measuring the current Cartesian position or positioning the remaining path when a sensor is triggered or a BOOLEAN variable changes its state.

Application cases for the touchprobe function are, for example, palletizing or depalletizing with a variable or unknown height of the parts or the sensor-based performance of actions.

Overview of functions:

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

The MOVIKIT^® Power and Energy Solutions DirectMode together with an MDP92A power supply module or MDE90A energy converter (in preparation) from the SEW "Power and Energy Solutions" product series allows for simple, programmable power supply for the MOVIDRIVE^® modular product family. MOVIKIT^® Power and Energy Solutions DirectMode is particularly designed for applications without energy storage. Overview of functions:

• Communication of the MOVI-C^® CONTROLLER with the
• MDP92A power supply module and the MDE90A energy converter (in preparation)
• Acquisition of the grid supply and axis module power ratings
• Acquisition of the power rating of external AC consumers
• Dynamically adjustable maximum AC or DC grid reference power
• Dynamically adjustable current limits
• Dynamically adjustable DC link voltage (up to 800 V)
• Provision of status information (phase or power failure, outer conductor voltages,
• and phase current) of the AC grid (MDP92A only)
• Flexible energy meter with a comprehensive set of functions
• Scope and data logger functions for time-based acquisition of performance and power data, among others

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 connected directly to the DC link but via an MDE90A energy converter from SEW's "Power and Energy Solutions" product range.

This opens up advantages with regard to a deeper storage discharge and smaller storage design. Software support at 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 memory with dynamically adjustable power or current limitation
• Acquisition of axis module power rating and memory 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 provides, together with an MDP92A power supply module or MDE90A energy converter (in preparation) from the SEW "Power and Energy Solutions" product series as well as additional energy storage units, the possibility for modularly creating highly efficient energy supply solutions for inverters in the MOVIDRIVE^® product family.

This MOVIKIT^® is therefore particularly designed for applications with energy storage units that are connected directly in the DC link. MOVIKIT^® Power and Energy Solutions PowerMode provides the scope of functions of MOVIKIT® Power and Energy Solutions DirectMode plus extensions for the described application.

Overview of additional functions:

• Dynamically adjustable state of charge of the storage unit including specification of the operating 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 (depending on the interface, e.g. current storage unit temperature or signals for overtemperature and overvoltage)
• Determination of remaining runtime after power failure

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

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

MOVIKIT^® Positioning allows you to use 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 operating modes jog, velocity control, positioning (relative/absolute), and referencing
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® Velocity 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 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 operating modes jog, velocity control, positioning (relative/absolute), and referencing
• Diagnostic monitor for monitoring and controlling the axis
• Standardized process data interface

MOVIKIT^® StackerCrane effiDRIVE^® can be used for implementing all kinds of storage/retrieval systems with up to 4 travel axes and 4 lifting axes. Up to 25% of energy can be saved by optimizing the travel cycles of lifting and travel drives. In addition, the scope of functions can be extended by a multi-axis control or vibration damping, for example.

The software modules MOVIKIT^® StackerCrane MultiMotion and MOVIKIT^® StackerCrane MultiAxisController are available for adding lower-level single axes or groups of axes.

The software module MOVIKIT^® StackerCrane MultiAxisController is used to add several axes in a direction of travel underneath a MOVIKIT^® StackerCrane effiDRIVE^®. Individual axes subordinate to the MOVIKIT^® Stacker Crane MultiAxisController require the MOVIKIT^® StackerCrane MultiMotion software module.

The software module MOVIKIT^® StackerCrane MultiMotion is used to add a single axis in a direction of travel underneath a MOVIKIT^® StackerCrane effiDRIVE^®.