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Moog MSD User Manual

Single-axis system / multi-axis system / compact
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MSD Servo Drive
User Manual
Single-Axis System
Multi-Axis System
Compact

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Summary of Contents for Moog MSD

  • Page 1 MSD Servo Drive User Manual Single-Axis System Multi-Axis System Compact...
  • Page 2 Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products. Profibus for MSD Servo Drive user manual Information and specifications may be changed at any time. For information on the latest version please refer to drives-support@moog.com.

  • Page 3: Table Of Contents

    Jog mode speed mode ................21 Profibus parameters ............... 51 3.2.2 Jog mode positioning mode ................22 3.2.3 Jog mode reference value parameter ............22 Appendix Glossary ..............53 Drive status word ....................22 Drive status machine ....................24 moog MSD Servo Drive User Manual Profibus...
  • Page 4 MSD Servo Drive User Manual Profibus moog...

  • Page 5: How To Use This Manual

    – if not, please first refer to the user manual. Commissioning the Profibus interface Cyclic data transmission - DPV0 Acyclic data transmission - DPV1 Operating modes Homing Commissioning examples Profibus parameters Appendix: Glossary, key words directory moog MSD Servo Drive User Manual Profibus...
  • Page 6 MSD Servo Drive User Manual Profibus moog Pictograms Attention! Incorrect operation may damage the drive or cause it to malfunc- tion. Danger from electrical tension! Improper conduct may endanger human life. Danger from rotating parts! The drive may start up automatically.

  • Page 7: General

    – Data transmission using two-wire twisted pair cable (RS 485) Servo controllers of the MSD Servo Drive family are quick and easy to handle. For your – Transmission rate: optionally 9.6 K, 19.2 K, 45.45 K, 93.75 K, 187.5 K, 500 K, own safety and for the safe functioning of your device, please be sure to observe the 1.5 M, 3 M, 6 M or 12 MBaud...

  • Page 8: Further Documentation

    MSD Servo Drive User Manual Profibus moog Further documentation • User manual for commissioning the drive device • User manual for further parameterisation to customise the application. • The User Manual can be downloaded as a PDF file from the Product DVD, which is enclosed the MSD Servo Drive.

  • Page 9: Commissioning The Profibus Interface

    Table 2.1 Profibus options card the user’s point of view. 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 Chapter 2...

  • Page 10: Bus Termination

    D 9-pin plug bus termination. In the MSD Servo Drive Compact the address cannot be set using the switches. On all devices the bus address can also be set using the buttons on the device, see ope- Vp = 5 Volt (6) rating instructions for MSD Servo Drive Compact.

  • Page 11: Operating Displays

    LED 2, red Status Seeking Baud rate after switching on without bus connection Seeking Baud rate after the bus connection has already been established Awaiting parameterisation data Table 2.4 Operation diagnostics moog MSD Servo Drive User Manual Profibus Chapter 2...
  • Page 12 MSD Servo Drive User Manual Profibus moog...

  • Page 13: Cyclic Data Transmission - Dpv0

    (phase 1). In the configuration phase a configuration sent TARPOS_A Reference destination position by the master is compared with the actual MSD Servo Drive configuration (phase 2). VELOCITY_A Reference speed Once these two phases have been completed successfully, the cyclic user data traffic Figure 3.1 Abbreviations...
  • Page 14 MSD Servo Drive User Manual Profibus moog Standard telegram 8 is a defined telegram type for positioning with the facility for spe- cifying a positioning speed. It consists of 5 input words and 5 output words as shown in the following table.

  • Page 15: User-Specific Ppos

    ACTUAL VALUE STW/ REFERENCE VALUE/ ACTUAL VALUE STW/ REFERENCE VALUE/ ACTUAL VALUE STW/ REFERENCE VALUE/ ACTUAL VALUE (*) PPO3 is the standard telegram 1 Table 3.6 User-specific Parameter Process data Objects moog MSD Servo Drive User Manual Profibus Chapter 3...
  • Page 16 MSD Servo Drive User Manual Profibus moog In the drive parameter list there exist two signal tables, which contain all the process After the parameterisation phase, the master sends the drive a configuration telegram data that can be cyclically read and written for the Profibus communications DPV0. All containing this special identification (ID).
  • Page 17 0xD1 0xC0 0xD5 22 words input/output data (consistent overall length) PZD channel 0xD5 0xF3 0xC0 22 words input/output data (consistent overall length) PKW channel 0xD5 0xD5 Table 3.7 Listing of identifiers moog MSD Servo Drive User Manual Profibus Chapter 3...
  • Page 18 MSD Servo Drive User Manual Profibus moog Identifier Identifier Reference to Table AK Evaluation using the special identification format (Figure 3.6) type (ID) Hex (ID) Bin slave-master 0xC0 0xD9 26 words input/output data (consistent overall length) 0xD9 0xF3 0xC0 26 words input/output data (consistent overall length)

  • Page 19: Pkw Parameter Channel

    Change parameter value (array) (double word) Sub-index Meaning Data type Table 3.9 Request identification AK (master  slave) Identifier (ID) Number of field elements or string length Unsigned 16 Table 3.12 Parameter description moog MSD Servo Drive User Manual Profibus Chapter 3...

  • Page 20: Master Control Word

    MSD Servo Drive User Manual Profibus moog Master control word Sub-index Meaning Data type Standardisation factor Floating Point Operating mode: Speed Control Operating mode: Positioning control Variable attributes OctetString 2 Reserved OctetString 4 Bit 15 (MSB) Name (only the first four bytes are sent)

  • Page 21: Jog Mode Speed Mode

    • If bit 9 is set to 0, while bit 8 is still set to 1, there is no change • In case of negative reference values, a negated speed is positive again. • The jog mode can only be activated if the motor is at standstill. moog MSD Servo Drive User Manual Profibus Chapter 3...

  • Page 22: Jog Mode Positioning Mode

    MSD Servo Drive User Manual Profibus moog Drive status word • If bit 8 of the parameter P 1267 COM_DP_CtrlConfig is set to 1, the drive behaves in accordance with the profile (profile 4.1), page 84 [13]: • The jog mode can only be activated if the motor is at standstill.
  • Page 23 2: Positioning with allowable speed 3: Delay Torque limitation with positive direction of travel Torque limitation with negative direction of travel ISD00 ISD01 ISD02 ISD03 Table 3.18 Drive status word 2 moog MSD Servo Drive User Manual Profibus Chapter 3...

  • Page 24: Drive Status Machine

    MSD Servo Drive User Manual Profibus moog Drive status machine System status Designation Description System initialisation running (start) Initialisation after device reset (e.g. hard- ware, parameter list, controller, …) to perform changes to the control word, STW bit 10 must be set...
  • Page 25 * Parameter P 0144 (Autostart) determines whether the control of the operation enable is flank-triggered (0) or status-  dependent (1) [Parameter List Motion Profile Basic Settings]. Table 3.21 System status changeovers moog MSD Servo Drive User Manual Profibus Chapter 3...
  • Page 26 MSD Servo Drive User Manual Profibus moog...

  • Page 27: Acyclic Data Transmission - Dpv1

    This shows the slave sending a negative read reply to the first read request. Alarm Alarm handling This negative read reply means that the required data cannot yet be provided. Table 4.2 An overview of the acyclic services offered moog MSD Servo Drive User Manual Profibus Chapter 4...
  • Page 28 MSD Servo Drive User Manual Profibus moog Not until the following cycle has the slave executed the request to the extent that it can • Req.id (1 byte) send a positive read reply with the requested data. This is the function number of the DPV1 service. This describes for instance whe- ther a parameter should be read or should be written.
  • Page 29 Format No. of values Table 4.3 Assignment of the data unit 1. Parameter address Value / error code No. of para meter address 4+…+ (format_n *amount_n) Table 4.5 DPV1 Parameter reply moog MSD Servo Drive User Manual Profibus Chapter 4...
  • Page 30 MSD Servo Drive User Manual Profibus moog The user data are structured as follows: • Format Specifies the respective parameter and ensures a unique assignment of the para- • Request reference: meter value in the telegram. The Request Reference is specified by the master and mirrored back by the slave •...
  • Page 31 Change access on a descriptive element, which cannot be changed 0x09 No descriptive text available 0x11 Request cannot be performed in the present system status 0x14 Impermissible value Table 4.7 Error number moog MSD Servo Drive User Manual Profibus Chapter 4...

  • Page 32: Examples Of Request And Reply Telegrams

    MSD Servo Drive User Manual Profibus moog Examples of request and reply telegrams Read simple parameter value Read word Write word Req. Refer. Axis Attr. Req. For- Value Value Param. Ele. high high Axis Attr. Valu- fer. Ele. high high...
  • Page 33 • Parameter P 0915 now contains the entries for the parameter values. • No standard telegram smaller than 10 is set up in the device, since then it could not be overwritten. Use remedy PPO5. moog MSD Servo Drive User Manual Profibus Chapter 4...
  • Page 34 MSD Servo Drive User Manual Profibus moog 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. high high 0x10 Table 4.19 ID:1 Attr. : 0x10 Pnu = 915=0x393 OK reply Req.

  • Page 35: Operating Modes

    The input of the ramp generator is influenced by the control word bit 6. If bit 6 is set, the reference value is forwarded. If bit 6 is not set, the reference value zero is forwarded. moog MSD Servo Drive User Manual Profibus Chapter 5...

  • Page 36: Speed Control Circuit And Associated Control Parameters

    MSD Servo Drive User Manual Profibus moog Speed control circuit and associated control parameters Torque-controlled motor Figure 5.2 Speed control circuit P. no.: Parameter name Meaning P. no.: Parameter name Meaning P 0333 P 1270 COM_DP_RefSpeed Speed reference value CON_SCON_SMaxNeg...

  • Page 37: Position Control

    5 and a flank is set on control word bit 6. Further positioning commands can then be activated via the control word bit 13. If bit 13 is set, changes to the reference position, positioning speed or positioning accele- ration lead directly to a new movement request. moog MSD Servo Drive User Manual Profibus Chapter 5...
  • Page 38 MSD Servo Drive User Manual Profibus moog If bit 13 is not set, a new movement request is activated only by means of a positive or negative flank of control word bit 6. If bit 6 is set in parameter P 1267 COM_DP_CtrlConfig, the positioning task is only activa- ted on the positive flank.

  • Page 39: Position Control Circuit And Associated Control Parameters

    P 0328 CON_SCON_Smax Speed limitation P 1275 COM_DP_TargetPos Target position P 0334 CON_SCON_SMaxPos Positive speed limitation (refe- P 1277 COM_DP_PosVelocity Positioning speed rence value: nominal speed of Table 5.2 Control parameters motor) moog MSD Servo Drive User Manual Profibus Chapter 5...
  • Page 40 MSD Servo Drive User Manual Profibus moog P. no: Parameter name Meaning P 0374 CON_IP_EpsDly Position reference delay P 0320 CON_SCON_Kp PI speed controller amplification P 0321 CON_SCON_Tn PI_speed controller lag time P 0325 CON_SCONFilterFreq Limit frequencies for torque reference value filter...

  • Page 41: Homing

    Not defined No homing run power to the drive. Furthermore, the zeroing offset must be determined. The type 5 moog MSD Servo Drive User Manual Profibus Chapter 6...
  • Page 42 MSD Servo Drive User Manual Profibus moog Parameter identifier/ Parameter identifier/ P. no. Identifier at MDA 5 Function P. no. Identifier at MDA 5 Function Setting Setting MPRO_402_Homing- MPRO_402_Homing- P 2261 P 2261 Digital inputs Digital inputs Method Method Neg. end switch, zero...

  • Page 43: Homing Run Methods

    Homing run methods The type of homing run is selected by the parameter P 2261 MPRO_402_HomingMethod [Parameter listMotion ProfileHoming]. Further information can be found in the MSD Servo Drive user manual, on our product DVD. moog MSD Servo Drive User Manual Profibus...
  • Page 44 MSD Servo Drive User Manual Profibus moog...

  • Page 45: Examples Of Commissioning Using Manufacturer-Specific Telegrams

    The following table shows an example of the process data area from the control master to the drive. For this purpose the sub-indexes in list P 0915 are assigned the stated para- meter numbers. moog MSD Servo Drive User Manual Profibus Chapter 7...

  • Page 46: Conversion Of Reference Values And Actual Values Using Factor Group Parameters

    MSD Servo Drive User Manual Profibus moog 4. P 0165 MPRO_REF_SEL: PROFI(9) [Parameter listðMotion ProfileðBasic Signal table Parameter Data type settings] P 0915 PZD area Parameter name number (value range) This parameter allows configuration of the reference value selector. In this instance Sub-index the reference values are taken from the Profibus.
  • Page 47 Torque factor Table 7.4 USER factor group The parameter MPRO_FG_AccFac offers the facility to change the number of decimal points for the positioning acceleration or the unit of the positioning acceleration. moog MSD Servo Drive User Manual Profibus Chapter 7...

  • Page 48: Examples For Setting The User Factor Group

    MSD Servo Drive User Manual Profibus moog Examples for setting the user factor group that can be written, and the signal list P 1285 DP_SignalList_Read contains all possible process data signals that can be read. The user can freely assign the process data area. The actual assignment can be found in The positioning instructions should be input in degrees, so that 360°...

  • Page 49: Speed Input

    3. P 0159 MPRO_CTRL_SEL : Profibus(7) [Parameter list ð Motion Profile ð Basic settings] This parameter allows the control location to be set. In this instance the control location is Profibus. moog MSD Servo Drive User Manual Profibus Chapter 7...

  • Page 50: Mappable Parameters

    MSD Servo Drive User Manual Profibus moog Mappable parameters Write Read Parameter number Parameter name PZD length (1284) (1285) P 0967 COM_DP_Controlword P 0968 COM_DP_Statusword P 1280 COM_DP_Controlword2 P 1281 COM_DP_Statusword2 P 1270 COM_DP_RefSpeed P 1271 COM_DP_ActSpeed P 0121 MPRO_Input_State...

  • Page 51: Profibus Parameters

    This parameter allows outgoing process data to be linked to specific device parameters. The parameters that can be entered are listed in parameter P 1285. The sub-index 0 contains the first process data value PZD1 and so on. Table 8.1 Profibus parameters moog MSD Servo Drive User Manual Profibus Chapter 8...
  • Page 52 MSD Servo Drive User Manual Profibus moog Can be Parameter name Number Value range Default value Data type Meaning changed COM_DP_Address P 0918 0 – 126 Station address of the inverter COM_DP_TelegramSelection P 0922 0 – 65535 COM_DP_SignalList P 0923 0 –...

  • Page 53: Appendix Glossary

    Status machine This describes the transitions between the various systems statuses. A status transi- tions is triggered by a defined event such as a control sequence or the setting of an input. moog MSD Servo Drive User Manual Profibus Chapter 9...
  • Page 54 MSD Servo Drive User Manual Profibus moog...
  • Page 55 Cyclic data transmission DPV0 13 Jog mode speed mode 21 Data exchange 11 DPV1 Read request 28 Drive status word 22 LEDs 11 Drive status machine 24 Limit switches 41 Error number 31 moog MSD Servo Drive User Manual Profibus Chapter...
  • Page 56 MSD Servo Drive User Manual Profibus moog PROFIdrive 13 Mappable parameters 50 Master control word 20 Request ID 30 Request reference 30 Response ID 30 Number of parameters 30 Number of elements 30 Number of values 30 Sensor resolution 48...
  • Page 58 TAKE A CLOSE 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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