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Moog MSD User Manual

Moog MSD User Manual

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MSD Servo Drive
User Manual
SERCOS III

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  • Page 1 MSD Servo Drive User Manual SERCOS III...
  • Page 2 MSD Servo Drive User Manual SERCOS III moog Technical alterations reserved. User Manual – SERCOS III MSD Servo Drive The contents of our documentation have been compiled with greatest care and in com- ID no.: CA97557-001, Rev. 1.0 pliance with our present status of information.

  • Page 3: Table Of Contents

    It is assumed that you are already familiar with this fieldbus on the basis of appropriate training and reading of the relevant literature. We assume your drive is already in opera- Safety tion. If it is not, you should put it into operation as described in the MSD Servo Drive Operation Manual. Assembly and connection This manual applies to the MSD Servo Drive servo drive system with the SERCOS III op- tion board.
  • Page 4 MSD Servo Drive User Manual SERCOS III moog Pictograms To provide clear guidance, this Operation Manual uses pictograms. Their meanings are set out in the following table. The pictograms always have the same meanings, even where they are placed without text, such as next to a connection diagram.
  • Page 5 Manufacturer-specific parameters P-0-xxxx ............17 6.3.2 Weighting of rotary acceleration data ............32 Operation modes ....................17 Weighting of torque and force data ................33 Real-time bits ......................19 6.4.1 Percentage weighting of torque and force data ...........33 moog MSD Servo Drive User Manual SERCOS III...
  • Page 6 MSD Servo Drive User Manual SERCOS III moog 6.4.2 Weighting of force data ................33 Diagnosis using the internal oscilloscope ..............47 6.4.3 Weighting of torque data ................34 8.2.1 Standard parameters ...................47 6.4.4 Torque polarity ....................34 8.2.2 Additional scope parameters ...............48 Scaling using the scaling wizard ................35 Internal error list .....................49...

  • Page 7: Safety

    – Areas where drive systems are installed, repaired and operated. The SERCOS III communication module for the MSD Servo Drive is executed as an inter- – Areas where motors are installed, repaired and operated. Motors with perma- face with two RJ45 sockets, and so permits a loop or linear structure.

  • Page 8: Key Features

    Figure 4.1 SERCOS III communication module for MSD Servo Drive • Support for configurable real-time status and control bits The power supply to the communication module is provided by the MSD Servo Drive. • Support for configurable signal status and control word Real-time capability permits highly dynamic drive engineering applications with NC cycle times of 125µs to 65 ms (multiples of 125µs).

  • Page 9: Abbreviations

    The service channel provides services for operation mode recording, param- eter setting, configuration and diagnosis Cyclic data Time-synchronized transfer of MDT, DT as from phase 3, valid as from phase 4 Table 4.2 Abbreviations moog MSD Servo Drive User Manual SERCOS III Chapter 1...
  • Page 10 MSD Servo Drive User Manual SERCOS III moog...

  • Page 11: Assembly And Connection

    Pin assignment Pair # Master Loop 1 2 3 4 5 6 7 8 Servo Drive Servo Drive Servo Drive Figure 2.2 SERCOS III loop structure Figure 2.3 RJ-45 socket moog MSD Servo Drive User Manual SERCOS III Chapter 2...

  • Page 12: Meanings Of Leds

    MSD Servo Drive User Manual SERCOS III moog Meanings of LEDs meaning parameter Errors (see below) (Fault) There are two LEDs on each RJ-45 socket. They signify the following. In event of an error, alternating display meaning Display for errors, or non-resettable errors...

  • Page 13: Hardware Enable

    Hardware enable The MSD Servo Drive has a control input to the hardware enable ENPO on the control terminal. This input must be configured for operation of the power stage at 24 V. The device additionally features the STO (Safe Torque Off) function (see MSD Servo Drive User Manual or Application Manual), category 3, control terminal ISDSH.
  • Page 14 MSD Servo Drive User Manual SERCOS III moog...

  • Page 15: Commissioning And Configuration

    Finally save the setting. functions and control circuits refer to the device application manual. Non volatile in device NOTE: On the subject of “Units and scalings" refer to Section 6 moog MSD Servo Drive User Manual SERCOS III Chapter 3...

  • Page 16: Setting The Slave Bus Address

    MSD Servo Drive User Manual SERCOS III moog Setting the slave bus address SERCOS parameter IDN/S-0-1040.0.0 is used to set the bus address. This parameter can be written using Moog D 5. The address setting must be unique, rive DministrAtor meaning each address may be used only once in a SERCOS loop.

  • Page 17: Parameter Setting

    8000(hex) from the Moog parameter number. • S: Standard parameter So Moog parameter 107 (function selector ISD06), for example, is to be found in the • DataSet: Number of the data set (currently only data set 0 is supported) list of all available parameters (S-0-1017.0.0) under number 32875. This parameter is •...
  • Page 18 0001: Interpolation 0010: Positioning Which of the three possible encoder interfaces of the MSD Servo Drive (Channel 1, 0011: Block mode (not supported)0100: Channel 2, Channel 3) are designated as position encoder 1 and 2 respectively is 0100: Synchronous mode (not supported) specified by parameters P-0-0530 “Selection of position encoder 1”, and P-0-0531...

  • Page 19: Real-Time Bits

    Warning threshold I2t motor exceeded S-0-0311 Warning threshold heat sink temperature exceeded S-0-0312 Warning threshold motor temperature exceeded S-0-0330 Status speed setpoint reached Table 4.4 Configurable real-time status bits (P-0-3002) moog MSD Servo Drive User Manual SERCOS III Chapter 4...
  • Page 20 MSD Servo Drive User Manual SERCOS III moog...

  • Page 21: Data Transfer

    Generally, not all parameters can be transferred as real-time data. The parameters which can be transferred in the MDT are entered under IDN S-0-0188.0.0. All the parameters which can be transferred in the DT are entered under IDN S 0 0187.0.0. moog MSD Servo Drive User Manual SERCOS III Chapter 5...

  • Page 22: Description Of Bits 13-15

    The device additionally features the “STO” (Safe Torque Off) function, category 3 (see • Settings of relevant parameters P-0-0144, P-0-0159 and P-0-0165 MSD Servo Drive Operation Manual and Application Manual) via control input (X4.22) ISDSH. The logic for this function (High edge at digital input ENPO (X4.10), with a High Under these preconditions the drive shows device state “3”...

  • Page 23: Drive Status Word S-0-0135.0.0

    • 100: Secondary mode 4 (not supported) • 101: Secondary mode 5 (not supported) • 110: Secondary mode 6 (not supported) • 111: Secondary mode 7 (not supported) Table 5.2 Drive status word S-0-0135 moog MSD Servo Drive User Manual SERCOS III Chapter 5...

  • Page 24: Non-Configurable Real-Time Data

    MSD Servo Drive User Manual SERCOS III moog Data transfer via the service channel (SVC) Bit no. Description 7 – 6 Reserved All S and P parameters can in principle be read via the service channel; write access is Status of actual position value (bit 0 of S-0-0403.0.0) possible only to non-write-protected parameters.

  • Page 25: Ip Channel

    Only if valid values are entered there for the times t6 and t7 is the IP channel active in the MSD Servo Drive. If the settings are t6 = 0 and t7 = 0, the IP channel is not active.
  • Page 26 MSD Servo Drive User Manual SERCOS III moog...

  • Page 27: Scaling And Weighting

    (from S-0-0076) factor S-0-0077) exponent (S-0-0078) weighting The MSD Servo Drive can be scaled either by the higher-level control writing the relevant parameters over the SERCOS bus or using the scaling wizard integrated into the Linear 0.1 MD Moog D...
  • Page 28 MSD Servo Drive User Manual SERCOS III moog The following diagram shows the various position weighting options. Bits 2-0 Weighting method 0 0 0 No weighting Position data weighting method (S-0-0076) 0 0 1 Translatory weighting S-0-0076 bit 0–2 0 1 0...

  • Page 29: Modulo Weighting

    Scaling parameters for position weighting Bit 3 Actual position 2 Not inverted Inverted Bit 4 Position limit values Not inverted Inverted Bit 5-15 Reserved Setting of position polarity via parameter S-0-0055 Table 6.6 moog MSD Servo Drive User Manual SERCOS III Chapter 6...

  • Page 30: Weighting Of Velocity Data

    MSD Servo Drive User Manual SERCOS III moog Weighting of velocity data 6.2.2 Weighting of rotary velocity data Rotary weighting is selected via S-0-0044. The significance of the LSB of the rotary The velocity weighting is defined by the parameters listed in the following table. All velocity data is defined by the following equation: velocity data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset...

  • Page 31: Speed Polarity

    Not inverted Variable m/min –1 –1 Inverted (S-0-0045) (S-0-0045) Bit 4-15 Reserved (S-0-0046) (S-0-0046) Table 6.11 Setting of velocity polarity via parameter S-0-0043 Figure 6.2 Diagram of velocity weighting methods moog MSD Servo Drive User Manual SERCOS III Chapter 6...

  • Page 32: Weighting Of Acceleration Data

    MSD Servo Drive User Manual SERCOS III moog Weighting of acceleration data 6.3.2 Weighting of rotary acceleration data Rotary weighting is selected via S-0-0160. The significance of the LSB of the rotary The acceleration weighting is defined by the parameters listed in the following table. All acceleration data is defined by the following equation: acceleration data of the drive (e.g.: setpoint, actual and limit values) are subject to the...

  • Page 33: Weighting Of Torque And Force Data

    When preferential force weighting is selected, the weighting as per the following table applies. Weighting method Unit Weighting Weighting preferential (from S-0-0076) (from S-0-0076) factor (S-0-0093) exponent (S-0-0094) weighting linear 1 NB Table 6.17 Preferential weighting of force data moog MSD Servo Drive User Manual SERCOS III Chapter 6...

  • Page 34: Weighting Of Torque Data

    MSD Servo Drive User Manual SERCOS III moog 6.4.3 Weighting of torque data Force/torque weighting method (S-0-0086) The weighting of torque data is set via parameter S-0-0086. The significance of the LSB S-0-0086 bit 0 – 2 of the torque data is defined by the following equation:...

  • Page 35: Scaling Using The Scaling Wizard

    Scaling using the scaling wizard The inputs described in the following made using the wizard directly influence the parameters described in section 6 to define the scaling of the drive. The scaling wizard integrated into the Moog D 5 enables large numbers rive DministrAtor 6.5.1...

  • Page 36: Scaling Of Velocity Data

    MSD Servo Drive User Manual SERCOS III moog Figure 6.9 Scaling of velocity data Choose "Preferential scaling" to set the scaling to that defined by SERCOS and described Figure 6.8 Scaling of position data in section 6. SERCOS offers two options for scaling of the position data. Choose "Preferential Choose "Parameter scaling"...

  • Page 37: Scaling Of Acceleration Data

    Click on the "Next" button to move on to the next window. Here the scaling of the acceleration data is specified. moog MSD Servo Drive User Manual SERCOS III Chapter 6...
  • Page 38 MSD Servo Drive User Manual SERCOS III moog...

  • Page 39: Functionality

    7.1.2 setting of sercos encoders 1 / 2 parameters relate to SERCOS encoders 1 and 2 respectively. The MSD Servo Drive features a maximum of 3 independent encoder interfaces. These 7.1.7 reference distance offset 1/2 encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and...

  • Page 40: Function Selector - Digital Inputs And Outputs

    MSD Servo Drive User Manual SERCOS III moog 7.1.9 function selector - digital inputs and outputs Touchprobe function The inputs and outputs of the drive can be assigned various functions by way of so- The touchprobe function permits event-controlled or continuous position measurement.
  • Page 41 If there is no external encoder, actual position value 1 is 1: Negative edge active stored. Table 7.1 Description of parameters for the touchprobe function Table 7.1 Description of parameters for the touchprobe function moog MSD Servo Drive User Manual SERCOS III Chapter 7...
  • Page 42 MSD Servo Drive User Manual SERCOS III moog parameter Description parameter Description meAsUreD vAlUe 1, negAtive eDge meAsUreD vAlUe 1 positive recorDeD With an external encoder, the drive stores the actual position value 2 to this With this parameter the "Measured value 1 positive recorded" is assigned an...
  • Page 43 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to "0”. In the operation datum only bit 0 is defined. Table 7.1 Description of parameters for the touchprobe function moog MSD Servo Drive User Manual SERCOS III Chapter 7...
  • Page 44 MSD Servo Drive User Manual SERCOS III moog...

  • Page 45: Error Messages And Diagnosis

    SERCOS III offers a number of diagnostic options by way of state classes and status/con- Amplifier overheating shut-off trol words. The internal oscilloscope of the MSD Servo Drive can also be used to display Overload shut-off and observe more diagnostic parameters.

  • Page 46: Interface Diagnosis

    MSD Servo Drive User Manual SERCOS III moog 8.1.3 interface diagnosis 8.1.4 telegram failure and error counter Using parameter S-0-0014.0.0, the status of the interface and the current communica- The drive monitors whether a valid MST / MDT has been received in each bus cycle. Also, tion phase can be monitored.

  • Page 47: Diagnosis Using The Internal Oscilloscope

    With the aid of the Device Status Word the slave signals its current topology as well as Producer ready communication errors such as a loop break. Table 8.6 Connection Control The individual bits have the following meanings: moog MSD Servo Drive User Manual SERCOS III Chapter 8...

  • Page 48: Additional Scope Parameters

    MSD Servo Drive User Manual SERCOS III moog 8.2.2 Additional scope parameters Bit no. Description In addition to the standard parameters for the oscilloscope, another field parameter Busy bit in the DT "COM_SERIII_ScopeVars" is available containing 10 indices important for diagnosis. This Handshake bit in the DT parameter has the number P 22000.

  • Page 49: Internal Error List

    In addition, the corresponding error text is entered in parameter S-0-0095. The param- Table 8.10 Communication status register eter can be read via the service channel or using the Moog D rive DministrAtor • Index 11 "COM_SERIII_DFCSR": Data flow control and status register. Displays the current topology of the slave.
  • Page 50 MSD Servo Drive User Manual SERCOS III moog...

  • Page 51: Bibliography

    Bibliography Being revised! moog MSD Servo Drive User Manual SERCOS III Chapter 9...
  • Page 52 MSD Servo Drive User Manual SERCOS III moog...

  • Page 53: Appendix, Glossary

    Velocity command value Speed S-0-0083 Negative torque limit value Torque S-0-0037 Additive velocity command value Speed Table 10.1 List of supported SERCOS standard parameters Table 10.1 List of supported SERCOS standard parameters moog MSD Servo Drive User Manual SERCOS III Chapter 10...
  • Page 54 MSD Servo Drive User Manual SERCOS III moog Description Unit Write protection Description Unit Write protection S-0-0084 Torque feedback value Torque CP2-CP4 S-0-0124 Standstill window Speed S-0-0085 S-0-0125 Torque polarity parameter CP3, CP4 Velocity threshold Speed S-0-0086 Torque / force data scaling type...
  • Page 55 Positioning command value S-0-0390 Diagnostic number CP2-CP4 S-0-0292 List of supported operation modes CP2-CP4 Table 10.1 List of supported SERCOS standard parameters Table 10.1 List of supported SERCOS standard parameters moog MSD Servo Drive User Manual SERCOS III Chapter 10...
  • Page 56 MSD Servo Drive User Manual SERCOS III moog Description Unit Write protection Description Unit Write protection S-0-0392 Velocity feedback filter µs S-0-1009 Device control offset in MDT S-0-0393 S-0-1010 Command value mode CP3, CP4 Lengths of MDTs S-0-0400 Home switch...

  • Page 57: Manufacturer-Specific Parameters

    Device name / product name P-0-0109 Function of analog input ISA00 P-0-0003 Application specific device name alias Table 10.2 List of supported SERCOS parameters Table 10.2 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS III Chapter 10...
  • Page 58 MSD Servo Drive User Manual SERCOS III moog Write protection Write protection Description Unit Description Unit P-0-0110 Function of analog input ISA01 P-0-0168 Motion profile jogging speeds P-0-0118 Digital inputs: Filter time P-0-0213 Motor brake lift time P-0-0120 Input inversion: ENPO[0], ISD00..05[1..6], SH[7],...
  • Page 59 Slip control gain for field weakening Actual position diffence (RefPosition-ActPosition) incr P-0-0349 P-0-0415 Comutation offset of resp. encoder Actual speed 1/min Table 10.2 List of supported SERCOS parameters Table 10.2 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS III Chapter 10...
  • Page 60 MSD Servo Drive User Manual SERCOS III moog Write protection Write protection Description Unit Description Unit P-0-0416 Reference speed 1/min P-0-0506 ENC CH2: Encoder type selection P-0-0417 Actual speed difference (RefSpeed-ActSpeed) 1/min P-0-0507 ENC CH3: Encoder type selection P-0-0418 Reference torque...
  • Page 61 Actual value of I2t integrator for motor protection P-0-1504 Test signal generator: times for rectangular waves Table 10.2 List of supported SERCOS parameters Table 10.2 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS III Chapter 10...
  • Page 62 MSD Servo Drive User Manual SERCOS III moog Write protection Description Unit P-0-3030 Drive controlled homing offset procedure command P-0-3031 Homing velocity in search of index pulse SPEED P-0-3054 Gain external feed-forward signals P-0-3055 External speed feed-forward signal Psca- le/2^16...
  • Page 63 Device Status ..................47 Diagnosis using the internal oscilloscope ..........46 Operation mode coding ............... 17 Diagram of position weighting methods ..........23 operation modes .................. 18 Operation modes ................. 17 moog MSD Servo Drive User Manual SERCOS III Index...
  • Page 64 MSD Servo Drive User Manual SERCOS III moog Pictograms ................... 22 velocity weighting methods ..............31 Pin assignment of the RJ-45 socket ............29 power stage enable ................33 Preferential weighting of force data ............. 27 Warning messages in state class 2 (C2D) ..........33 Preferential weighting of rotary position data ........
  • Page 66 TAKE A CLOSE LOOK. Moog solutions are only a click away. Visit our worldwide Web site for more informa- tion 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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