Table Of Contents - Moog MSD User Manual

Table of contents

How to use this manual .................................................................. 5
1 General ................................................................................... 7
1.1 Measures for your Safety ........................................................................................7
1.2 Introduction to Profibus ..........................................................................................7
1.3 System requirements ...............................................................................................7
1.4 Further documentation ...........................................................................................8
2 Commissioning the Profibus Interface ....................................... 9
2.1 Connections and user controls ................................................................................9
2.2 Plug configuration for the P cable..................................................................9
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2.3 Bus termination .......................................................................................................10
2.4 Setting the drive address .........................................................................................10
2.5 Operating displays ..................................................................................................11
2.6 GSD file...................................................................................................................11
3 Cyclic data transmission - DPV0 ............................................. 13
3.1 Parameter process data objects (PPO) .....................................................................13
3.1.1 Standard "PROFIdrive" telegrams ................................................................13
3.1.2 User-specific PPOs .......................................................................................15
3.1.3 PKW parameter channel ..............................................................................19
3.2 Master control word ...............................................................................................20
3.2.1 Jog mode speed mode ................................................................................21
3.2.2 Jog mode positioning mode ........................................................................22
3.2.3 Jog mode reference value parameter ...........................................................22
3.3 Drive status word ....................................................................................................22
3.4 Drive status machine ...............................................................................................24
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4 Acyclic data transmission - DPV1 ........................................... 27
4.1 Examples of request and reply telegrams ................................................................32
5 Operating modes ................................................................... 35
5.1 Speed Control .........................................................................................................35
5.2 Speed control circuit and associated control parameters .........................................36
5.3 Position control .......................................................................................................37
5.4 Position control circuit and associated control parameters ......................................39
6 Homing ................................................................................. 41
6.1 Homing runs performed by the drive ......................................................................41
6.2 Homing run speed ..................................................................................................41
6.3 Homing run acceleration .........................................................................................41
6.4 Zeroing offset .........................................................................................................41
6.5 Homing cams, limit switches ...................................................................................41
6.6 Homing run methods ..............................................................................................43
7 Examples of commissioning using manufacturer-specific
telegrams .............................................................................. 45
7.1 Position control using PPO 5 ...................................................................................45
7.2 Conversion of reference values and actual values using factor group parameters ....46
7.3 Examples for setting the user factor group..............................................................48
7.4 Speed control using PPO 2 ......................................................................................48
7.4.1 Speed input .................................................................................................49
7.5 Mappable parameters .............................................................................................50
8 Profibus parameters ............................................................... 51
9 Appendix Glossary ................................................................. 53
MSD Servo Drive User Manual Profibus
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