Moog MDS Servo Drive User Manual
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Moog MDS Servo Drive User Manual

Profibus / profinet
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MSD Servo Drive
User Manual
PROFIBUS / PROFINET
Single-Axis Servo Drive - Compact
Single-Axis Servo Drive - Standard
Multi-Axis Servo Drive - System

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Summary of Contents for Moog MDS Servo Drive

  • Page 1 MSD Servo Drive User Manual PROFIBUS / PROFINET Single-Axis Servo Drive - Compact Single-Axis Servo Drive - Standard Multi-Axis Servo Drive - System...

  • Page 2: Moog Id No.: Ca65645-001 Date

    Subject to technical change without notice. Information and specifications may be changed at any time. For information on the The German version is the original of this Operation Manual. latest version please refer to drives-support@moog.com.
  • Page 3 – if not, please first refer to the user manual. General introduction Commissioning Cyclic data transfer Acyclic data transfer Operation modes Homing Examples of commissioning PROFIBUS/PROFINET parameters Appendix: Glossary, Index moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...

  • Page 4: Moog Id No.: Ca65645-001 Date

    MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Pictograms Attention! Misoperation may result in damage to the drive or malfunctions. Danger from electrical tension! Improper behaviour may endanger human life. Danger from rotating parts! Drive may start up automatically.

  • Page 5: Table Of Contents

    PROFINET option card displays .............15 5.4.2 Drive status word .................41 2.2.6 GSDML file (PROFINET) ................15 Position control (application class 3) ..............42 5.5.1 Position control circuit and associated control parameters ....44 moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...
  • Page 6 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Homing .................. 49 Drive-controlled homing ..................49 Homing velocity ....................49 Homing acceleration ...................49 Zero point offset ....................49 Homing method ....................49 Reference cam, limit switch .................51 Examples of commissioning with manufacturer-specific telegrams ................

  • Page 7: General

    Do not touch electronic components and contacts (electrostatic discharge PROFIBUS User Organisation: "Profile Guidelines Part 1: Identification & may destroy components). Maintenance Functions, 1.2, Oct 2009, Order No. 3.502" moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 General...

  • Page 8: Helpline/Support & Service

    Phone: +49 7031 622 0 Telefax: +49 7031 622 100 E-Mail: drives-support@moog.com If you need further assistance, our specialists at the Moog Service Center will be happy to help. Service - Please contact us: Phone: +49 7031 622 0 E-Mail:...

  • Page 9: Commissioning

    Table 2.1 PROFIBUS option card The control signals used for the repeaters are optional, and the power supply for the terminating resistors is provided by the device. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Commissioning...

  • Page 10: Specification Of The Profibus Cable

    MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 2.1.3 Specification of the PROFIBUS cable For the wiring Moog recommends using the following hardware: Vp = 5 Volt (6) PROFIBUS D-Sub bus termination plug Siemens order number 6XV1 830-0EH10...

  • Page 11: Profibus Address Setting

    All setting modes require the device to be restarted in order to activate the new status of the module. The following tables set out the operating states of the PROFIBUS address. option card based on the various illumination sequences. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Commissioning...

  • Page 12: Gsd File (Profibus)

    Commissioning moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 2.1.7 GSD file (PROFIBUS) LED 3, green LED 2, red Status Reset (after power on) The device master data file contains the summary of the device features in a standardised form.

  • Page 13: Profinet

    Status indicator LED (green) Status indicator LED (red) 1 2 3 4 5 6 7 8 Figure 2.4 RJ45 socket X47/X48 PROFINET cable connection Table 2.8 PROFINET option card moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Commissioning...

  • Page 14: Specification Of The Profinet Cable

    ID no.: CA65645-001 Date: 01/2015 2.2.3 Specification of the PROFINET cable 2.2.4 Meanings of LEDs For the cabling Moog recommends using the following hardware: The two LEDs at the RJ45 sockets have the following meanings: Function Meaning PROFINET RJ45 connector...

  • Page 15: Profinet Option Card Displays

    Two LEDs are mounted on the PROFINET option card indicating the current operating Description of file name status of the module. The following tables set out the operating states of the PROFINET File name: GSDML-Vx.xx-Moog-MSD Servo Drive-date.xml option card based on the various illumination sequences. Vx.xx : GSDML version...
  • Page 16 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...

  • Page 17: Cyclic Data Transfer

    16 driving sets available for selection in the drive. This telegram type consists of two input words and two output words as shown in the following table. PZD number Reference values STW1 SATZANW Actual values ZSW1 AKTSATZ moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Cyclic data transfer...
  • Page 18 Cyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Standard telegram 8 is a defined telegram type for positioning with the option to preset a positioning velocity. It consists of five input words and five output words as shown in the following table.

  • Page 19: User-Specific Ppos

    REFERENCE/ ACTUAL STW/ REFERENCE/ ACTUAL STW/ REFERENCE/ ACTUAL STW/ REFERENCE/ ACTUAL (*) PPO3 is the standard telegram 1 Table 3.4 User-specific parameter process data objects moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Cyclic data transfer...
  • Page 20 Cyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 In the drive parameter list there are two signal tables containing all the process data that can be cyclically read and written for the PROFIBUS communication DPV0. All...
  • Page 21 18 words input/output data (consistent overall length) PZD channel 0xD1 0xC0 0xD5 0x73 0x173 22 words input/output data (consistent overall length) PZD channel 0xD5 Table 3.5 Listing of identifiers moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Cyclic data transfer...
  • Page 22 Cyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 PROFIBUS Referred to PROFINET PROFINET identifier Evaluation by special identifier format (figure 3.6) Table AK type module ID IRT module ID (ID) Hex Slave-Master 0xC0...

  • Page 23: Parameter Channel Pkw

    The subindex is preset only by byte 3. Change parameter value (array) (double word) Table 3.7 Request identifier AK (Master  Slave) moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Cyclic data transfer...

  • Page 24: Monitoring

    Cyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Monitoring Sub-index Meaning Data type Identifier (ID) The MSD Servo Drive provides two options for monitoring cyclic communication. Number of field elements or string length Unsigned 16...
  • Page 25 If cyclic transfer is interrupted and then re-established, the error counter parameter P 1296 (COM_PN_Sign_of_life_err_cnt) is cleared and the warning bit 4 in parameter Figure 3.2 Normal operation Sign of Life P 0953 (COM_DP_Warning) is reset. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Cyclic data transfer...
  • Page 26 Cyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 3 Sign of Life errors triggered 4 Sign of Life errors triggered with error reaction Figure 3.4 4 Sign of Life errors triggered with error reaction Figure 3.3...

  • Page 27: Acyclic Data Transfer

    After this the slave acknowledges with a response telegram (2), which initially Data request Data transfer 0..30H contains no response data. Read request Read request via DPV1 moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Acyclic data transfer...
  • Page 28 Acyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 This is simply an acknowledgement of the request and contains only the mirrored Word format: DPV1 header of the request telegram. In the event of an error, a negative response is sent.

  • Page 29: Profinet Parameter Access

    [Alarms are not currently supported] nth parameter address Format No. of values 4+6*n Table 4.3 Data unit assignment Values 4+6*n +…+ (format_n *amount_n) Table 4.4 Data unit assignment moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Acyclic data transfer...
  • Page 30 Acyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Attribute Base mode parameter Byte address Describes the individual access to a parameter structure. For example, whether response access to the actual numerical value or to the parameter description text is...
  • Page 31 Number 1..65535 ned16 0xFFFF 0x18 Number of parameter values is inconsistent Table 4.6 User data 0x19 Request for a non-existent axis Table 4.7 Error numbers moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Acyclic data transfer...

  • Page 32: Examples Of Request And Response Telegrams

    Acyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Examples of request and response telegrams Read simple parameter value Read word Write word Req. Refer. Axis Attr. Param. Ele. high high Req. Value Value Re-fer.
  • Page 33 Parameter P 0915 now contains the entries for the parameter values. No standard telegram smaller than 10 may set up in the device, because then it could not be overwritten; as a remedy set PPO5. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...
  • Page 34 Acyclic data transfer moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Read parameter values array Read assigned process data reference values Req. Value 0 Value 0 Value 4 Value 4 Refer. Axis Attr. No. Ele. Param.

  • Page 35: Profidrive Operation Modes

    Parameter No. Name Meaning P 0300 CON_CfgCon Set control mode P 0301 CON_REF_Mode Set reference profiles Table 5.1 Watchdog moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 Profidrive operation modes...

  • Page 36: Speed Control Circuit And Associated Control Parameters

    Profidrive operation modes moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 5.1.1 Speed control circuit and associated control parameters Figure 5.1 Speed control loop P.no.: Parameter name Meaning P.no.: Parameter name Meaning P 0351 CON_SCALC_TF Actual speed filter time constant...

  • Page 37: Drive State Machine

    Slow down on the voltage limit and stay in "quick stop" Table 5.4 Quick stop option codes Figure 5.2 General system state machine (control via PROFIBUS and PROFINET) moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 Profidrive operation modes...

  • Page 38: Jog Mode

    Profidrive operation modes moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 Jog mode System state Designation Description transition Start Initialisation after boot-up complete 5.3.1 Jog mode manufacturer-specific UZK OK DC-link voltage greater than switch-on threshold Quick stop and spin out of true Spin out of true deactivated ...

  • Page 39: Jog Mode Reference Parameters

    The input of the ramp generator is influenced by control word bit 6. If bit 6 is set, the reference value is switched through. If bit 6 is not set, the reference value zero is transmitted. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015...

  • Page 40: Master Control Word

    Profidrive operation modes moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 5.4.1 Master control word Operation mode: Operation mode: Position control Speed control Operation mode: Operation mode: Position control Error reset on rising edge 0  1...

  • Page 41: Drive Status Word

    Frequency or speed reached or Target position reached exceeded Ready for start Bit 9 Table 5.9 Drive status word No access rights via PLC Access via PLC allowed moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 Profidrive operation modes...

  • Page 42: Position Control (Application Class 3)

    Profidrive operation modes moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 Position control (application class 3) Meaning Profile generator status 0: Stop In position control mode, from operating state 5 the drive can switch to various states 1: Acceleration in response to defined bits in the master control word.
  • Page 43 In this case the drive is also braked to a standstill and set to the "Control active" state. Additionally, from the initial state 5 a homing run can be triggered by control word bit 11. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015...

  • Page 44: Position Control Circuit And Associated Control Parameters

    Profidrive operation modes moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 5.5.1 Position control circuit and associated control parameters P 0329 Index 2 (CON_IP_FFMode Torque) internal P 1270 (COM_DP_RefSpeed) external P 0379 Index 1 (CON_IP_FFMode Speed) internal...
  • Page 45 Speed pre-control scaling P 0376 CON_IP_TFFScale Acceleration pre-control scaling P 0379 CON_IP_FFMode Configuration of pre-control P 0401 CON_SCON_AddTRef Additive torque reference P 0402 CON_SCON_AddSRef Additive velocity reference moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015 Profidrive operation modes...
  • Page 46 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.:CA65645-001 Date: 01/2015...

  • Page 47: Homing

    Approach block, direction of travel (-10) with zero pulse right, with zero pulse (-9) Approach block, left Approach block, direction left Table 6.1 Parameters for limit switch homing moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Homing...
  • Page 48 Homing moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Parameter Parameter P.no. Designation in MDA 5 Function P.no. Designation in MDA 5 Function name/setting name/setting MPRO_402_ MPRO_402_ P 2261 Digital inputs P 2261 Digital inputs HomingMethod...

  • Page 49: Reference Cam, Limit Switch

    Reference cam, limit switch The homing method is selected by parameter P 2261 (MPRO_402_HomingMethod) [Parameter listMotion ProfileHoming]. For more information refer to the MSD Servo Drive Device Help on our product DVD. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Homing...
  • Page 50 Homing moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...

  • Page 51: Examples Of Commissioning With Manufacturer-Specific Telegrams

    The following table shows an example of the process data area from the drive to the numbers for the purpose. master. The subindices in list P 0916 are assigned the desired parameter numbers for the purpose. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Examples of commissioning with manufacturer-specific telegrams...

  • Page 52: Controlled Homing

    Examples of commissioning with manufacturer-specific telegrams moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 4. MPRO_REF_SEL (165) : PROFI(9) [Parameter listMotion ProfileBasic Signal table Parameter Data type settings] Parameter name area number (value range) This parameter is used to configure the reference selector. In this instance the Subindex reference values are taken from PROFIBUS.
  • Page 53 The parameter MPRO_FG_AccFac offers the facility to change the number of decimal P 0295 MPRO_FG_TorqueScaleFac Torque factor points for the positioning acceleration or the unit of positioning acceleration. Table 7.4 Factor group USER moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Examples of commissioning with manufacturer-specific telegrams...

  • Page 54: Examples For Setting The User Factor Group

    Examples of commissioning with manufacturer-specific telegrams moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Examples for setting the user factor group PROFIBUS-DP in the left-hand tree structure of the user interface. In this folder, signal list...

  • Page 55: Speed Input

    The setting RFG (Ramp Function Generator) means that the speed reference value is preset via a ramp generator. moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...

  • Page 56: Mappable Parameters

    Examples of commissioning with manufacturer-specific telegrams moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Mappable parameters Write Read Parameter number Parameter name (P 1284) (P 1285) Length P 0967 COM_DP_Controlword P 0968 COM_DP_Statusword P 1280 COM_DP_Controlword2...

  • Page 57: Profibus/Profinet Parameters

    COM_DP_RefSpeed P 1270 -32768 – 32767 Speed reference value written via PROFIBUS COM_DP_ActSpeed P 1271 -32768 – 32767 Actual speed Table 8.1 PROFIBUS and PROFINET parameters moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 PROFIBUS/PROFINET parameters...
  • Page 58 PROFIBUS/PROFINET parameters moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015 Change- Parameter name Number Value range Default value Data type Meaning able COM_DP_RefTorque P 1272 -32768 – 32767 Torque reference value written via PROFIBUS P 1273 COM_DP_ActTorque -32768 –...

  • Page 59: Glossary

    Sync mode IO device with real-time (RT) and synchronous Fieldbus stations Slave IRT (isochronous real-time) communication PROFINET Version 2.2 Specification (October 2007) Table 9.1 Technical data moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA6564-001 Date: 01/2015 Appendix...
  • Page 60 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA6564-001 Date: 01/2015...
  • Page 61 Drive status word ..................41 Bus terminating resistor ................. 10 Bus termination..................... 10 Error code ....................... 8 Error numbers ....................31 Cable lengths ....................9 Class 1 Master ....................17 moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA6564-001 Date: 01/2015...
  • Page 62 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA6564-001 Date: 01/2015 Example of assignment ................. 53 Identifier format .................... 20 Examples ...................... 32 Identifier syntax .................... 24 Examples for commissioning ................. 53 Internal resolution ..................55 Examples for setting the user factor group ............ 56 Introduction ....................
  • Page 63 Positioning acceleration ................. 55 Request reference ..................30 Positioning velocity ..................55 Response ID ....................30 Position unit ....................56 Response identifier AK (Slave  Master) ............23 PPO ......................17 moog MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA6564-001 Date: 01/2015...
  • Page 64 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA6564-001 Date: 01/2015 Sensor resolution ..................56 Values ......................30 Serial number ....................8 Velocity factor ....................56 Sign of Life ....................24 Velocity unit ....................56 Sign of Life errors ..................26 Sign of Life errors with error reaction ............
  • Page 65 MSD Servo Drive User Manual PROFIBUS/PROFINET ID no.: CA65645-001 Date: 01/2015...
  • Page 66 TAKE A CLOSER LOOK. Moog solutions are only a click away. Visit our worldwide Web site for more informati- on and the Moog facility nearest you. moog Moog GmbH Hanns-Klemm-Straße 28 D-71034 Böblingen Phone +49 7031 622 0 Telefax +49 7031 622 100 www.moog.com/industrial...

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