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Moog MSD User Manual

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  • Page 1 MSD Servo Drive User Manual...
  • Page 2 MSD Servo Drive User Manual SERCOS II moog Technical alterations reserved. User Manual: SERCOS II for MSD Servo Drive The contents of our documentation have been compiled with greatest care and in com- ID no.: CA65648-001, Rev.1.0 pliance with our present status of information.
  • Page 3 SERCOS communication phases SERCOS II option card. Cyclic data transfer The basis for implementing SERCOS in the MSD Servo Drive is the document titled “Specification SERCOS Interface Version 2.4“ issued in February 2005 (for more details visit http://www.sercos.de). Fault, warning and status messages...
  • Page 4 MSD Servo Drive User Manual SERCOS II 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: Table Of Contents

    Position control without tracking error ..............37 Communication phase 1 ..................15 6.4.1 In-drive generation of pre-control signals ............37 Communication phase 2 ..................15 External generation of pre-control signals ...............38 Communication phase 3 ..................16 Communication phase 4 ..................16 moog MSD Servo Drive User Manual SERCOS II...
  • Page 6 MSD Servo Drive User Manual SERCOS II moog Weighting ................39 Touchprobe function ............. 51 Weighting of position data ..................39 Parameter access via the service channel ........ 55 7.1.1 Weighting of translatory position data ............39 10.1 SERCOS parameter list ....................55 7.1.2...

  • Page 7: Safety

    – Areas where motors are installed, repaired and operated. Motors with perma- nent magnets pose a particular hazard. DAnger: If it is necessary to access such areas, suitability to do so must be determined beforehand by a doctor. moog MSD Servo Drive User Manual SERCOS II Chapter 1...

  • Page 8: Key Features

    Figure 1.1 SERCOS communication module for MSD Servo Drive • Full synchronization of all connected drives with the master control system The SERCOS communication module for the MSD Servo Drive is implemented as a SERCOS II • Free configuration of telegram content interface with a plastic optical fibre (POF) or hard clad silica (HCS) cable loop with F-SMA •...

  • Page 9: Terms

    2 = Parameter-setting mode; as from phase 2 the service channel is in operation 3 = Time slots are maintained, cyclic data still invalid 4 = Cyclic operation mode; import of setpoints; transmission of actual values Table 1.2 Terms moog MSD Servo Drive User Manual SERCOS II Chapter 1...
  • Page 10 MSD Servo Drive User Manual SERCOS II moog...

  • Page 11: Commissioning Of The Sercos Interface

    X31 (RXD) Figure 2.2 Controls and displays of the SERCOS interface, hardware variant 2 X17 (TXD) X18 (RXD) Figure 2.1 Controls and displays of the SERCOS interface, hardware variant 1 moog MSD Servo Drive User Manual SERCOS II Chapter 2...

  • Page 12: Connection Of Fibre-Optic Cables

    MSD Servo Drive User Manual SERCOS II moog Connection of fibre-optic cables Hardware settings The connection between the master (control) and the servo drives is made by fibre-optic 2.4.1 setting the transmission power of the sercos interface cables. This requires a loop architecture to be constructed, as illustrated in the following diagram for three drive axes.

  • Page 13: Diagnostic Leds

    The optical level is checked by way of the distortion LED on the front cal damage or poor assembly (bad connector fitting or the like). Defective fibre-optic panel of the MSD Servo Drive (LED H4). Normally the distortion LED is unlit. To check cables must be replaced.
  • Page 14 MSD Servo Drive User Manual SERCOS II moog...

  • Page 15: Sercos Communication Phases

    Table 3.1 Flash code: Communication phase 0 setting, the drive generates a relevant fault message. The meanings of the fault numbers are listed in the MSD Servo Drive Application Manual. moog MSD Servo Drive User Manual SERCOS II Chapter 3...

  • Page 16: Communication Phase 3

    MSD Servo Drive User Manual SERCOS II moog The parameter listing in section 10.1 sets out the parameters that can be leD H5 flash code status written in the various phases. Indication of commu- leD H5 flash code status █▂█▂█▂█▂▂▂█▂█▂█▂█▂▂▂...

  • Page 17: Parameter Interface

    P-parameters: Moog ID + 8000 hex Example: Moog P-0-0101 function selector ISD01 is to be found in the IDN listing (S-0-0017) as P-0-0101. Currently only record 0 is supported.

  • Page 18: Master Control Word

    MSD Servo Drive User Manual SERCOS II moog Master control word explanation 0 0 0 Primary mode (defined by operation datum S-0-0032) The master control word is part of the master data telegram. It contains all the key con- 0 0 1 Secondary mode-1 (defined by operation datum S-0-0033) trol information for the drive.

  • Page 19: Description Of Bits 13-15

    Bit14: Drive enABle (power stage enable) • SERCOS interface ready and in communication phase 4 The MSD Servo Drive has a control input (X4.10) ENPO (Enable Power) for hardware en- able. This input must be configured for operation of the power stage at 24 V.

  • Page 20: Drive Status Word

    MSD Servo Drive User Manual SERCOS II moog Drive status word • P-0-0743 equal to 0 Position tracking error off. The drive switches on without correction and feeds the position setpoint of the NC directly onto the drive. The drive moves to the The drive status word is part of the drive telegram.
  • Page 21 Bit 0 “AHS” brake management) Service transport handshake of drive Table 4.3 Mapping of bits 3, 13, 14 and 15 onto system state Table 4.2 Drive status word (parameter S-0-0135) moog MSD Servo Drive User Manual SERCOS II Chapter 4...

  • Page 22: Drive State Machine

    MSD Servo Drive User Manual SERCOS II moog Drive state machine Bit 15 Bit 14 Bit 13 Bit 3 Display readout system state designation loop control ActiVe The system states and the possible state transitions are shown in the following diagram and described in the following tables.

  • Page 23: Real-Time Control Bits And Real-Time Status Bits

    14 in SERCOS control word = 0 S-0-0414, S-0-0415, S-0-0416) before a corresponding IDN is assigned as the real-time bit (S-0-0301, S-0-0303, S-0-0305, S-0-0307). Table 4.5 Description of system state transitions moog MSD Servo Drive User Manual SERCOS II Chapter 4...

  • Page 24: Signal Control And Status Words

    MSD Servo Drive User Manual SERCOS II moog A faulty configuration (e.g. unknown IDN) is refused when writing to S-0-0301, parameter Description S-0-0303, S-0-0305 or S-0-0307. S-0-0401 Status touchprobe 1 Only the parameters listed in P-0-3003 ”Real-time control bits” or P-0-3002 “Real-time...
  • Page 25 Table 4.9 Configuration parameters for the signal status word For configuration of the signal status word the list of configurable parameters of the real-time status bit (P-0-3002) applies. moog MSD Servo Drive User Manual SERCOS II Chapter 4...
  • Page 26 MSD Servo Drive User Manual SERCOS II moog...

  • Page 27: Fault, Warning And Status Messages

    The key fault messages of the drive are displayed in parameter S-0-0011 (state class 1). brackets. The fault messages in square brackets are defined in the SERCOS specification but are Structure of the C1D parameter: not supported by the MSD Servo Drive. Bit 0: Overload shut-off (S-0-0114) Bit 1: Amplifier overheating shut-off (S-0-0203) S-0-0011...

  • Page 28: Warning Messages

    2). The warning messages in square brackets are defined in the SERCOS specifica- The status messages in square brackets are defined in the SERCOS specification but are tion but are not supported by the MSD Servo Drive. not supported by the MSD Servo Drive.

  • Page 29: Interface Faults And Diagnostic Options

    Phase change without ready message Bit 9 Change to non-initialized operation mode Bit 10 Drive with same address in loop Bit 11-15 Reserved Table 5.4 Coding of parameter S-0-0014 (interface status) moog MSD Servo Drive User Manual SERCOS II Chapter 5...
  • Page 30 MSD Servo Drive User Manual SERCOS II moog...

  • Page 31: Operation Modes

    Bit 14 With drive-controlled mode switching Cyclic setpoints (for all modes) Table 6.1 Operation mode coding Setpoints via service channel The operation modes supported by the MSD Servo Drive are listed in parameter Bits 13-10 (reserved) S-0-0292. Bits 9-0 operation mode...
  • Page 32 Table 6.2 Supported operation modes (S-0-0296) Which of the three possible encoder interfaces of the MSD Servo Drive (Channel 1, Chan- nel 2, Channel 3) are designated as position encoder 1 and 2 respectively is specified by parameters P-0-0530 “Selection of position encoder 1”, and P-0-0531 ”Selection of posi- tion encoder 2”.

  • Page 33: Torque Control

    Online torque limit (reference variable: motor nominal torque) P-0-0460 Motor nominal torque Table 6.3 Torque control parameter Rule: Tmin_neg = MIN(P-0-0332, P-0-0330) * P-0-0329 * P-0-0460 Tmin_pos = MIN(P-0-0332, P-0-0331) * P-0-0329 * P-0-0460 moog MSD Servo Drive User Manual SERCOS II Chapter 6...

  • Page 34: Flux Control

    MSD Servo Drive User Manual SERCOS II moog Flux Control In this operation mode the master specifies a speed setpoint (S-0-0036). P-0-0458 P-0-0320 P-0-0329 P-0-0428 P-0-0321 P-0-0330 P-0-0333 S-0-0037 alternatively P-0-0325 S-0-0081 P-0-0331 S-0- 0322 P-0-0334 P-0-3005 S-0-0100 P-0-0326 P-0-0332...

  • Page 35: Position Control With Drive-Controlled Position Profile Generation

    Bit 1/2: 00 = Position mode 01 = Jog + 10 = Jog - 11 = Halt Bit 3: 0 = Absolute 1 = Relative (only where bits 1/2 = 00) moog MSD Servo Drive User Manual SERCOS II Chapter 6...
  • Page 36 MSD Servo Drive User Manual SERCOS II moog P-0-0314 S-0-0348 refFF S-0-0258 P-0-0372 S-0-0296 S-0-0259 refFF S-0-0260 P-0-0320 P-0-0458 P-0-0329 P-0-0428 P-0-0321 P-0-0330 P-0-0333 alternatively P-0-0331 P-0-0325 S-0-0081 S-0- 0322 P-0-0334 P-0-0332 S-0-0100 P-0-0326 P-0-0613 P-0-0344 P-0-0371 P-0-0167 P-0-0460 S-0-0104...

  • Page 37: Position Control Without Tracking Error

    P-0-0327 P-0-0460 P-0-0374 S-0-0101 S-0-0360 Torque-controlled G(s) motor Gru(s) GmFF(s) GnFF(s) P-0-0351 S-0-0040 S-0-0051 S-0-0156 S-0-0053 Figure 6.4 Schematic diagram of position control without tracking error with internal pre-control signals moog MSD Servo Drive User Manual SERCOS II Chapter 6...

  • Page 38: External Generation Of Pre-Control Signals

    MSD Servo Drive User Manual SERCOS II moog External generation of pre-control signals IIn this operation mode the master cyclically dictates position setpoints and pre-control signals for speed and acceleration. The drive performs a fine-interpolation for the posi- tion setpoints and the pre-control signals. The scaled pre-control signals are de-scaled via parameters P-0-1507 (rotation speed) and P-0-1508 (acceleration).

  • Page 39: Weighting

    Table 7.1 Scaling parameter for position weighting Unit (from S-0-0076) preferential weighting (from S-0-0076) resolution (S-0-0079) Rotary Degrees 3 600 000 0.0001 degrees Table 7.3 Preferential weighting of rotary position data moog MSD Servo Drive User Manual SERCOS II Chapter 7...
  • Page 40 MSD Servo Drive User Manual SERCOS II moog The following diagram shows the various position weighting options. Bits 2-0 Weighting method 0 0 0 No weighting Weighting method, position data (S-0-0076) 0 0 1 Translatory weighting S-0-0076 bit 0–2 0 1 0...

  • Page 41: Modulo Weighting

    Scaling parameter for position weighting Bit 3 Actual position 2 Not inverted Inverted Bit 4 Position limit values Not inverted Inverted Bit 5-15 Reserved Table 7.6 Setting of position polarity via parameter S-0-0055 moog MSD Servo Drive User Manual SERCOS II Chapter 7...

  • Page 42: Weighting Of Velocity Data

    MSD Servo Drive User Manual SERCOS II moog Weighting of velocity data 7.2.2 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 43: Velocity Polarity

    –1 –1 Not inverted (S-0-0045) (S-0-0045) Inverted (S-0-0046) (S-0-0046) Bit 4-15 Reserved Table 7.11 Setting of velocity polarity via parameter S-0-0043 Figure 7.2 Diagram of velocity weighting methods moog MSD Servo Drive User Manual SERCOS II Chapter 7...

  • Page 44: Weighting Of Acceleration Data

    MSD Servo Drive User Manual SERCOS II moog Weighting of acceleration data 7.3.2 weighting of rotary acceleration data Rotary weighting is selected via S-0-0160. The significance of the LSB of the rotary ac- The acceleration weighting is defined by the parameters listed in table 7 12. All accelera- celeration data is defined by the following equation: tion data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset...

  • Page 45: 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-0-0086) (from S-0-0086) factor (S-0-0093) exponent (S-0-0094) weighting linear Table 7.17 Preferential weighting of force data moog MSD Servo Drive User Manual SERCOS II Chapter 7...

  • Page 46: Weighting Of Torque Data

    MSD Servo Drive User Manual SERCOS II moog 7.4.3 weighting of torque data Weighting method, force/torque (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 47 Bit 2 Actual torque Not inverted Inverted Bit 3-15 Reserved Table 7.20 Setting of velocity polarity via parameter S-0-0043 moog MSD Servo Drive User Manual SERCOS II Chapter 7...
  • Page 48 MSD Servo Drive User Manual SERCOS II moog...

  • Page 49: Homing

    Setting of SERCOS encoders 1 / 2 Reference distance 1/2 The MSD Servo Drive features a maximum of 3 independent encoder interfaces. These The reference distance 1(2) (S-0-0052, S-0-0054) describes the distance between the encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and machine zero point and the reference point referred to the motor measurement system.

  • Page 50: Reference Cam, Limit Switches

    MSD Servo Drive User Manual SERCOS II moog Reference cam, limit switches • P-0-0126 Function selector - RELOUT1 • P-0-0142 Inversion of digital outputs The signal of the reference cam can be optionally linked to one of the digital inputs. In- puts ISD00…ISD06 are available.

  • Page 51: Touchprobe Function

    Bit 3: Measured value 2 recorded negative (S-0-0412) 0 - Not recorded 1 - Recorded Bit 15: (reserved) Bit 15-4: (reserved) Table 9.1 Description of parameters for the touchprobe function moog MSD Servo Drive User Manual SERCOS II Chapter 9...
  • Page 52 MSD Servo Drive User Manual SERCOS II moog parameter Description parameter Description meAsUreD VAlUe 1, positiVe eDge meAsUreD VAlUe 1 recorDeD positiVe With an external encoder, the drive stores the actual position value 2 to this With this parameter “Measured value 1 recorded positive” is assigned an IDN.
  • Page 53 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 9.1 Description of parameters for the touchprobe function moog MSD Servo Drive User Manual SERCOS II Chapter 9...
  • Page 54 MSD Servo Drive User Manual SERCOS II moog...

  • Page 55: Parameter Access Via The Service Channel

    IDN list of invalid operation data for CP4 note: The functional descriptions of the manufacturer specific parameters S-0-0024 Configuration list of MDT - where not given here - are to be found in the MSD Servo Drive Operation S-0-0025 IDN list of all procedure commands Manual. S-0-0026...
  • Page 56 MSD Servo Drive User Manual SERCOS II moog write protection write protection Description Unit Description Unit S-0-0047 S-0-0097 Position command value Mask class 2 diagnostic S-0-0049 Positive position limit value S-0-0098 Mask class 3 diagnostic S-0-0050 Negative position limit value...
  • Page 57 S-0-0192 IDN list of all backup operation data S-0-0307 Allocation of real time status bit 2 Table 10.1 List of supported SERCOS parameters Table 10.1 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS II Chapter 10...
  • Page 58 MSD Servo Drive User Manual SERCOS II moog write protection write protection Description Unit Description Unit S-0-0310 S-0-0401 Overload warning (Motor) Probe 1 status S-0-0311 Amplifier overtemperature warning S-0-0402 Probe 2 status S-0-0312 motor overtemperature warning S-0-0403 Position feedback value status...
  • Page 59 P-0-0127 Function of dig. output RELOUT2 is fixed on ‘Safety Hold‘ P-0-0287 Unit for speed values Table 10.1 List of supported SERCOS parameters Table 10.1 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS II Chapter 10...
  • Page 60 MSD Servo Drive User Manual SERCOS II moog write protection write protection Description Unit Description Unit P-0-0290 P-0-0334 Unit for acceleration and deceleration values Motor speed scaling of positive limit P-0-0293 Unit for torque values P-0-0335 Direction lock for speed reference value...
  • Page 61 ENC CH1: Number of lines (SinCos / TTL encoders) P-0-0463 Motor number of pole pairs P-0-0543 ENC CH1: Number of MultiTurn bits (SSI absolute) Table 10.1 List of supported SERCOS parameters Table 10.1 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS II Chapter 10...
  • Page 62 MSD Servo Drive User Manual SERCOS II moog write protection write protection Description Unit Description Unit P-0-0544 P-0-0610 ENC CH1: Number of SingleTurn bits (SSI absolute) ENC CH1: Nominal increment of reference marks Signal per. P-0-0545 ENC CH1: Code selection (SSI absolute position interface)
  • Page 63 Gain external feed-forward signals P-0-3055 External speed feed-forward signal Pscale/2^16 P-0-3056 External acceleration feed-forward signal Pscale/2^16 P-0-3100 Expanded position command value for Pico-Interpolation Table 10.1 List of supported SERCOS parameters moog MSD Servo Drive User Manual SERCOS II Chapter 10...
  • Page 64 MSD Servo Drive User Manual SERCOS II moog...
  • Page 65 Homing method ................... 49 Homing velocity ..................49 Description of bits ................. 19 Description of parameters ..............51 Description of system states ..............23 Description of system state transitions ........... 23 moog MSD Servo Drive User Manual SERCOS II Index...
  • Page 66 MSD Servo Drive User Manual SERCOS II moog Preferential weighting of rotary position data ........44 Preferential weighting of translatory acceleration data ......39 ID no.: CA65648-001 ................2 Preferential weighting of translatory position data......... 42 In-drive generation ................37 Interface faults and diagnostic options ............
  • Page 67 MSD Servo Drive User Manual SERCOS II moog Velocity polarity ..................43 Velocity weighting methods ..............39 Warning messages .................. 2 Weighting ..................... 44 Weighting of acceleration data ............. 45 Weighting of force data ................ 39 Weighting of position data ..............44 Weighting of rotary acceleration data ...........
  • Page 68 MSD Servo Drive User Manual SERCOS II moog...
  • Page 70 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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