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MSD Servo Drive Profibus User Manual

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1. Parameter name Number Value range Default value S DEVE mayel Meaning changed COM_DP_CtrlConfig P 1267 0 65535 0 Ja U16 This parameter describes the function of each bit in the control word parameter 967 COM_DP_RefJogSpeed P 1268 4294967296 bis 4294967295 0 Ja 132 This parameter contains homing speed 1 in the jog mode COM_DP_RefJogSpeed2 P 1269 4294967296 bis 4294967295 0 Ja 132 This parameter contains homing speed 2 in the jog mode COM_DP_RefSpeed P 1270 32768 32767 O Yes 116 Speed reference value written by the Profibus COM_DP_ActSpeed P 1271 32768 32767 0 No 116 Actual speed COM_DP_RefTorque P 1272 32768 32767 0 Yes 116 Torque reference value written by the Profibus COM_DP_ActTorque P 1273 32768 32767 0 No 116 Actual torque COM_DP_RefPos P 1274 2147483648 2147483647 O Yes B2 Position reference value ramp mode written by the Profibus COM_DP_TargetPos P 1275 2147483648 2147483647 0 Yes 132 Position reference value direct mode written by the Profibus COM_DP_ActPos1 P 1276 2147483648 2147483647 0 No 132 Actual position from 1st position sensor COM_DP_PosvVelocity P 1277 2147483648 2147483647 O Yes 132 Speed reference value ramp mode written by the Profibus COM_DP_Acc P 1278 O OxFFFF 100 Yes U16 Acceleration reference value ramp mode written by the Profibus COM_DP_Dec P 1279 O OxFFFF 100 Yes U16 Deceleration reference value ramp mode written by the Profibus C
2. STW1 Control word 1 1 STW2 Control word 2 1 ZSW1 Status word 1 1 ZSW2 Status word 2 1 NSOLL_A Speed reference 1 NIST_A Actual speed 1 SATZANW Set selection from the driving set table 1 AKTSATZ Current set selection from the driving set 1 table XSOLL_A Reference position 2 XIST_A Actual position 2 TARPOS_A Reference destination position 2 VELOCITA Reference speed 2 Figure 3 1 Abbreviations Standard telegram 1 is a defined telegram type for speed control It consists of two input words and two output words as shown in the following table PZD number 1 2 NSOLL_A Reference values STW1 PZD number 2 Actual values ZSW1 NIST_A Table 3 1 Standard telegram 1 Standard telegram 7 is a defined telegram type for selecting the driving set In total 16 driving sets saved in the drive can be selected The telegram type comprises 2 input words and two output words as in the following table PZD number 1 2 SATZANW Reference values STW1 PZD number 2 Actual values ZSW1 AKTSATZ Table 3 2 Standard telegram 7 MSD Servo Drive User Manual Profibus B MOOG MSD Servo Drive User Manual Profibus 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 PZD number 5 Reference values XSOLL_A stw2 NSOLL_A VAD alelan
3. REFERENCE VALUE 1 ACTUAL VALUE 2 RKE IND PKW REFERENCE VALUE 1 ACTUAL VALUE a REFERENCE VALUE ACTUAL VALUE 4 REFERENCE VALUE ACTUAL VALUE 5 PKE IND PKW REFERENCE VALUE PZD PZD PZD PZD 1 ACTUAL VALUE 7 8 9 10 REFERENCE VALUE ACTUAL VALUE PKE IND PKW PKW STW REFERENCE VALUE PZD PZD 1 2 ZSW ACTUAL VALUE 3 4 STW REFERENCE VALUE RAD RZAD PZD PZD PZD PZD ZSW ACTUAL VALUE 3 4 5 6 7 8 PKE IND PKW PKW STW REFERENCE VALUE PZD PZD PZD PZD PZD PZD 1 2 ZSW ACTUAL VALUE 3 4 5 6 7 8 STW REFERENCE VALUE PZD PZD RAD PZD PZD PZD RAD PAD ZSW ACTUAL VALUE 3 4 5 6 7 8 9 10 PPO3 is the standard telegram 1 Table 3 6 User specific Parameter Process data Objects MOOC MSD Servo Drive User Manual Profibus 15 Chapter 3 MOOC In the drive parameter list there exist two signal tables which contain all the process data that can be cyclically read and written for the Profibus communications DPVO All possible process data signals that can be written can be found in the signal table P 1284 COM_DP_SignalList_Write and all possible process data signals that can be read can be found in the signal table P 1285 COM_DP_SignalList_Read The most important parameters that can be read and written are also documented in Chapter 6 The process data signals that can be written can be configured in the signal table P 0915 COM_DP_PZDSelectionWrite The number of proces
4. MSD Servo Drive User Manual Single Axis System Multi Axis System Compact MOOC MOOC This document details the functionality of the following equipment variants MSD Servo Drive Single axis system MSD Servo Drive Multi axis system MSD Servo Drive Compact Profibus for MSD Servo Drive user manual Id no CA65645 001 Rev 2 0 Date 08 2011 We reserve the right to make technical changes MSD Servo Drive User Manual Profibus Technical alterations reserved The contents of our documentation have been compiled with greatest care and in com pliance with our present status of information Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the latest version please refer to drives support moog com Table of contents 1 How touse TIS TANGA eee eE 5 E EEE E A E A EE A EE E E EE 7 Tel Measures for your SATCU Yea asncisccussiedcueteantesascnaassstneiednteshiche a a aiee Ersa 7 L2 FOGG ONO Probus esien E ESEE EAEE 7 l3 System PEQU IM CIICITS rs aicnacenesa sat neinn airi Erin RA DES ei r EEADERS 7 14 EUPTMET COCUMENT AMON eeneioe n oa e a EAEE rA 8 Commissioning the Profibus Interface cccccccccceeeeeeeeeeeee eee 9 214 Connections anid User COM MOIS sesa T TEE EN 9 2 2 Plug configuration for the PROFIBUS CADIC cc cece ccccc
5. This is the function number of the DPV1 service This describes for instance whe ther a parameter should be read or should be written More detailed information can be found in the table Assignment of the Data Unit Slot 1 byte DPV1 slaves consist of a number of physical or virtual slots The drive is triggered by addressing a slot following which the slot address is not evaluated Index 1 byte The index contains the address of the data area in which the slave makes available the data for a parameter access In accordance with ProfiDrive this is specified with the fixed data area number 47 Length 1 byte Gives the length of the user data that follow In the case of a read access the length must be sufficiently large for the data to be read max 240 byte User 1 byte n byte Contains the user data to be processed DF e melalian DLO Dy ye melalhe byte Param a 0 Req id 48H Idle REQ RES Idle REQ RESP 51H Data Transport REQ Data transport REQ RES RESP RESP 56H Resource Manager REQ Resource manager REQ 57H Initiate REQ RES Initiate REQ RESP 58H Abort REQ Abort REQ 5CH Alarm REQ RES Alarm REQ RESP 5EH Read REQ RES Read REQ RESP 5FH Write REQ RES Write REQ RESP D1H Data Transport NEG Data transport RESP RES D7H Initiate NEG RES Initiate negative RESP DCH Alarm NEG RES Interrupt negative RESP DEH Read NEG RES Read negative RESP DFH Write N
6. ment can be found in the signal tables P 0915 and P 0916 Parameter list gt Fieldbus gt Profibus DP Signal table P 0915 COM_DP_PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table P 0916 COM_DP_PZDSelec tionRead contains all signals that can be sent by the drive to the control master 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 MOOC Signal table Parameter PZD area P 0915 number Sub index Parameter name Data type value range 0 1 P 0967 Control word COM_DP_Controlword U16 0 165535 1 2 P 1275 Target position COM_DP_TargetPos B2 J 2147483648 2 3 P 1275 Target position COM_DP_TargetPos 2147483647 Control word 2 3 4 P 1280 COM_DP Controlword2 WiG O 65535 Positioning velocity eter COM_DP_PosVelocity I32 pecan a 2147483648 ositioning velocity 2147483647 uae COM_DP_PosVelocity 6 7 P 1278 Acceleration COM_DP_Acc U16 0 65535 7 8 P 1279 Braking deceleration COM_DP_Dec W116 0265535 8 9 O 9 10 0 Table 7 1 Example of assignment of the master slave process data channel Each sub index represents a 16 bit wide process data channel For this reason for in Stance the target position that is sent as Int32 is mapped to sub indices 1 and 2 i
7. 14 Fault reaction ended Fault reaction has ended e g fault stop ramp 15 Fault acknowledgement Acknowledgement of the reported fault gt STW bit 7 1 or by a rising flank of the power stage enable 16 Power stage blocked Power stage blocked can occur in any system status 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 MOOC Chapter 3 MSD Servo Drive User Manual Profibus 25 MOOG MSD Servo Drive User Manual Profibus cm The access mechanism on DPV1 4 Acyclic data transmission fixed layout DPV 1 2 is always performed according to a Write request 5F 16H 68H xx 32 30 SF 0o 2 In addition to DPVO cyclic data communications which are intended as standard for quick updates of I O process data DPV1 acyclic services are available as one off events They offer the facility for instance to read or write parameters acyclically and thus without interfering with cyclic data traffic Telegram type SD2 in accordance with the following table is used for the DPV1 Profibus DP extension 2 Write reply 5F SD LE LEr SD DYAN SA DSAP SSAP DU FCS ED 68H xx 32 30 SF o 2F n x 16H Start Length Length iStart Destina Source Destina Source Da
8. Neg reference cams zero Omg nO cams Positive also be used for homing The assignment of the digital inputs can be found under the 6 HOMSW A flank negative direction of trave l ear l pulse at RefNock High zr eik parameter 101 to 107 Parameter list gt 1 O configuration gt Digital inputs When homing to the limit switches the digital input must be selected as a positive limit switch using 7 to 14 HOMSW Len Hea N eae Various homing runs to cams selection parameter LCVW 5 or a negative limit switch using selection parameter LCW 6 zero pulse at RefNock Low When homing to cams the parameter HOMSVWV 10 must be selected 15 16 not defined Reserved a ee The following table shows the necessary assignment of the digital inputs for the respec 17 LCCW Neg end switch Homing run negative limit switch tive homing run methods 18 LCW Pos end switch Homing run positive limit switch Pos reference cams Stop Homing run to cams negative a2 nny at RefNock Low flank positive direction of travel Pos reference cams Stop Homing run to cams positive 20 eee at RefNock High flank positive direction of travel Neg reference cams Stop Homing run to cams negative 21 monte at RefNock Low flank negative direction of travel Neg reference cams Stop Homing run to cams positive 22 ene at RefNock High flank negative direction of travel 6 6 Homing run methods The type of homing run is selected by t
9. P 0331 CON_SCON_TMaxPos Positive torque limitation refe rence value nominal torque P 0332 CON_SCON_TMaxScale Torque scaling factor P 0339 CON_SCON_Tmax Torque limitation reference value nominal torque P 0460 MOT_TNom Motor nominal torque Table 5 1 Control parameter 5 3 Position control In position control operating mode based on operating status 5 see section 3 4 the drive can change over into various statuses in response to defined bits in the master control word 3 2 These statuses are explained in Figure 5 2 MOOC Chapter 5 Initial status 5 Control active ZSW1 bits 10 13 TRUE Start homing STW1 bit 11 TRUE Speed zero End homing Do not interrupt STW1 bit 11 FALSE Homing positioning set running STW1 bit 4 TRUE ZSW1 bits 11 13 FALSE Feed hold set STW1 bit 5 TRUE Homing point set Activate positioning set STW1 bit 6 Flank ZSW1 bits 11 13 TRUE Braking with ramp ZSW bits 10 13 FALSE Interrupt positioning set STW1 bit 4 FALSE Automatic position Flank controlled updating inactive updating of TW1 bit 13 FALSE itioni t Positioning command active 3 piii 2 ase tte ZSW1 bits 10 13 FALSE and flank on ZSW1 bit 12 Automatic position updating active Automatic STW1 bit 13 TRUE updating of No hold set positioning set STW1 bit 1 FALSE Activate positioning set by flank Hold set STW1 bite 0 gt 10r1 gt 0 STW1 bit 1 TRUE Updating Braking
10. Safe Standstill not set 1 ENPO or Safe Standstill set Bit 13 0 Drive rotating 1 Drive stationary Bit 12 0 Not used Motion request confirmation by toggling this bit 1 Not used Bit 11 0 Not used Homing point not yet set 1 Not used Homing point set Bit 10 O Frequency or speed not reached Target position not reached 1 Frequency or speed reached or Target position reached exceeded Bit 9 0 No access rights over the PLC 1 Access rights over the PLC granted Bit 8 0 Speed error outside the tolerance band Positioning slippage error outside the tolerance band Speed error within the tolerance band Positioning slippage error within the tolerance band Bit 7 0 No warning 1 Warning registered Bit 6 0 Switch on not prevented 1 Switch on prevented Operating mode Speed Control Operating mode Positioning control Bit Meaning Bit 5 8 Reserved 0 Quick stop activated 9 Reserved 1 Quick stop deactivated 10 Reserved Bit 4 11 Reserved O Spin out of true activated 12 15 Reserved for Profidrive 1 Spin out of true deactivated Table 3 18 Drive status word 2 Bit 3 If no synchronous application is implemented the slave sign of life need not be transmit 9 S A ted allowing the entire second status word to be freely assigned 1 Error reported Bit 2 0 Control blocked 1 Control active in operation drive responding to reference values Bit 1 0 Power s
11. byte 6th byte 7th byte 8th byte Parameter description sent PKE 1 word IND 1 word PKW1 1 word PKW2 1 word Parameter value array sent word Parameter value array sent double word The parameter consists of a total of 4 words the parameter identifier PKE 1 word the Sub index IND 1 word and the parameter identification word which occupies the data NEO Om BR WY N Request not executable see error no area PKW1 1 word to PKW2 1 word The parameter identification is shown by bits in Table 3 10 Reply identification AK Slave gt Master the following table On reply identification 7 the error number sent to the drive trom the master Is shown in the area PKW1 to PKW2 The following table lists these error numbers ae Error Statement AN Request or reply identification value range 0 15 0 Impermissible PNU PNU Parameter number value range 1 4095 1 Parameter cannot be changed Table 3 8 PKE parameter identification 2 Lower or upper parameter value limit transgressed The following tables list the request identification master and the reply identification 2 eT UE ee sl ave 4 Not an array A 5 Incorrect data type Request identification Function 0 No request i 17 Request cannot be executed because of the operating status 1 Request parameter value is Be er error 2 Chang
12. motor leration P 0328 CON_SCON_Smax Speed limitation P 1275 COM_DP_TargetPos Target position P 0334 CON_SCON_SMaxPos Positive speed limitation refe P1277 COM_DP_PosVelocity Positioning speed ae Een spear Table 5 2 Control parameters MSD Servo Drive User Manual Profibus 39 Chapter 5 MOOC 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 P _speed controller lag time P 0325 CON_SCOMFilterFreq Limit frequencies for torque reference value filter P 0326 CON_SCONFilterAssi Torque reference value filter parameter P 0327 CON_SCOMFilterPara Torque reference value filter parameter P 0351 CON_SCALC_TF Actual speed filter time constant P 0401 CON_SCON_AddTRef Additive torque reference value P 0330 CON_SCON_TMaxNeg Negative torque limitation refe rence value nominal torque P 0331 CON_SCON_TMaxPos Positive torque limitation refe rence value nominal torque P 0332 CON_SCON_TMaxScale Torque scaling factor P 0339 CON_SCON_Tmax Torque limitation reference value nominal torque P 0460 MOT_TNom Motor nominal torque P 0372 CONSIPS Shri Filter time constant speed pre control P 0375 CON_IP_SFFScale Scaling for pre control of speed P 0414 GCONEPEONEPosSDitT Position controller differential tracking error P 0360 CON_PCON_Kp Position controller amplification Table 5 2
13. on slow down ramp and stay in quick stop NESLE 6 Slow down on quick stop ramp and stay in quick stop 7 Slow down on the current limit and stay in quick stop Figure 3 3 GeneralSystem status machine control via Profibus 8 Slow down on the voltage limit and stay in quick stop Table 3 20 Quick stop option code System status Designation Description changeover 0 Start Initialisation after boot up completed 1 UZK OK Intermediate circuit voltage greater than switch on threshold 2 Quick stop and spin out of Spin out of true deactivated gt STW bit 1 1 true deactivated Quick stop deactivated gt STW bit 2 1 3 Power stage switched on Power stage switched on gt STW bit 0 1 4 Controller enabled Controller enabled gt STW bit 3 1 5 Control blocked Control blocked gt STW bit 3 0 6 Power stage blocked Power stage blocked gt STW bit 0 0 7 Quick stop or spin out of true Spin out of true activated gt STW bit 1 0 activated Quick stop activated gt STW bit 2 0 8 UZK too low Intermediate circuit voltage less than switch on threshold 9 Quick stop activated Activate quick stop gt STW bit 2 0 10 Quick stop deactivated Deactivate quick stop gt STW bit 2 1 11 Spin out of true activated Activate spin out of true gt STW bit 1 0 12 Standstill detected Standstill was detected 13 Fault Fault event occurred can occur in any system status
14. request aye Reali eee ee e Attributes 0x82 Change Parameter 0x83 20xBE Reserved OxC0 OxFF Manufacturer specific Describes the individual access to a parameter structure For instance whether one may access the actual numerical value or use the parameter description text i 7 Axis No Unsigned8 0x00 Device Representative Zero single axis Further information can be found in the table User data 0x01 0xFE AxiseNumber 1 254 e Number of Elements er MEA When accessing an array or a string this area contains the filed size or the string No of Unsigned 0x00 Reserved Limited by DPV1 Parameters 0x01 0x27 Quantity 1 39 telegram length length Ox23 OXF Reserved e Parameter Number Attribute Unsigned8 0x00 Reserved Contains the parameter number PNU 0x10 Value l 0x20 Description e Subindex 0x30 Text Addresses the first array element of a parameter or the beginning of a character 0x40 0x70 Reserved 0x80 0xF0 Manufacturer specific string This also allows access to descriptive texts and text arrays Table 4 6 User data Field name Data type Value Meaning Comments No of Elements Unsigned8 0x00 Special Function Limited by DPV1 0x01 0xEA Quantity 1 234 telegram length OXEBMOXHE Reserved Parameter Unsig 0x0000 Reserved Number ned16 0x0001 Number 1 65535 OxFFFF Subindex Unsig 0X0000R Number 1 65535 ned16 OxEFEF Format Unsigned8 0x00 Reserved 0x01 0x36 Data T
15. segment display 1 2 e 2 buttons 3 4 oo Figure 2 3 Integrated contro unit MSD Servo Drive Compact The following functions and indications are available e Indication of the device status The device status is indicated after switching on the control supply If an entry is not made using the buttons for 60 seconds the display returns to the display of the device status e Indication of the device error status On the occurrence of an error in the device the display is immediately switched to the indication of the error code e Parameter setting indication PA Reset the device parameter settings to the factory setting e Ethernet IP address setting indication IP Setting for the Ethernet IP address as well as the subnet mask e Fieldbus settings indication Fb Setting e g for the fieldbus address 2 5 Operating displays Options module Three LEDs are mounted on the options card these give indications regarding the current operating status of the module In Tables 2 2 and 2 3 the opera ting statuses of the Profibus module are listed based on the various LED illumination combinations LED 1 green LED 2 red Status Reset after switching on ASIC RAM test and initialisation End of ASIC RAM test and initialisation Table 2 3 Selftest during diagnostic LED 1 green LED 2 red Status Seeking Baud rate after switching on without bus connection Seeking Bau
16. to property only personnel with electrical engineering qualifications may work on the device e Knowledge of the national accident prevention regulations such as VBG4 in Germany e Knowledge of structure and networking using the CAN fieldbus During installation observe the following instructions e Standards for electrical installation e g cable cross sections screening etc e Do not touch electronic components and contacts electrostatic discharge may destroy components e Always comply with the connection conditions and technical specifications MOOC Kapitel 1 1 2 Introduction to Profibus The Profibus implementation in MSD Servo Drive is based on the PROFIdrive profile Profibus PROFdrive profile version 4 0 dated August 2005 Performance features in key words Data transmission using two wire twisted pair cable RS 485 Transmission rate optionally 9 6 K 19 2 K 45 45 K 93 75 K 187 5 K 500 K 1 5 M 3 M 6 M or 12 MBaud Automatic Baud rate detection Profibus address can be set using the rotary coding switches or alternatively using the addressing parameters Cyclic data exchange reference and actual values using DPVO Acyclic data exchange using DPV1 Synchronisation of all connected drives using freeze mode and sync mode Reading and writing drive parameters using the PKW channel or DPV1 1 3 System requirements It is assumed that you have access to a sta
17. value value Jog mode 1 off Jog mone Ton Profi Drive table 9 1 Jog mode 1 on Jog mode 1 on Table 3 13 Structure of the identifier Bit 7 0 Error acknowledgement at rising flank 0 gt 1 Table 3 14 Master control word Operating mode Speed Control Operating mode Positioning control 0 Deactivate reference value Activate positioning set at rising and falling flank 1 Activate reference value eta 1 Bit 5 O Freeze ramp generator No feed hold 1 Unfreeze ramp generator Feed hold Bit 4 0 Reset ramp generator Interrupt positioning set 1 Activate ramp generator Do not interrupt positioning set Bit 3 0 Controller not enabled 1 Controller enabled operation enabled Bit 2 O Quick stop active 1 Quick stop inactive Bit 1 0 Spin out of true active 1 Spin out of true inactive Bit O 0 Switch off power stage OFF 1 Switch on power stage ON 11 Start Homing Procedure Stop Homing Procedure 12 Relative positioning 13 Immediate start on changing the position speed or the acceleration 14 Speed mode 15 Apply relative positioning immediately after start enable Table 3 14 Master control word MOOC Chapter 3 Using parameter COM_DP_CtrlContig bits 6 and 8 can be configu red Bit number Value 0 Default value Value 1 The positioning task can be started The positioning task can only be started with the with the ne
18. Control parameters MSD Servo Drive User Manual Profibus 40 is particularly suitable for this A zeroing offset can be set using the parameter P0525 6 H O Mm nN Q ENC_HomingOff Parameter list Motion Profiles gt Homing 6 5 Homing cams limit switches 6 1 Homing runs performed by the drive The signal for the homing cams can optionally be linked to one of the digital inputs for which the inputs ISDOO to ISDO6 are available Since relative sensor systems are used the drive must be homed triggered by bit 11 in When homing to the limit switches the digital input must be selected as a positive limit control word 1 As soon as this bit is set by the master the drive performs a position switch using selection parameter LCW 5 or a negative limit switch using selection para controlled homing run using an internal profile generator and determined by homing meter LCW 6 When homing to cams the parameter HOMSW 10 must be selected a homing run acceleration and employing the strategy saved in the homing run see parameter P 0101 P 0107 Parameter identifier l NO Identifier at MDA 5 Function 6 2 Homing run speed Setting The homing run speed is specified by parameter P 2262 MPRO_402_HomingSpeeds in P 2261 aa O omno Digital inputs l i Method g k the parameter editor Parameter list gt Motion Profile gt Homing The user has the facility here to specity two different homing run speeds 7 i move pos direction fo
19. EG RES Write negative RESP 1 Slot OOH FEH Slot number 2 Index 2FH Index 3 Length XX Length of the user data max 240 bytes arin UserData XX User data Alarms are not currently supported Table 4 3 MOOC Assignment of the data unit Chapter 4 In the following table the telegram format for the user data Data Unit User Data for a DPV1 parameter request and a DPV1 parameter reply are shown DPV1 Parameter Request Byte address Request Header Request reference Request identification 0 Axis No No of Parameters n 2 Attribute No of elements 3 1 Parameter adress Paramter Number PNU Subindex a 4 6 n 1 n Parameter adress Format No of values 4 6 n Values 4 6 n format_n amount_n Table 4 4 DPV1 Parameter Reply Byte address Assignment of the data unit Table 4 5 DPV1 Parameter reply Request reference Response identification 0 Reply header mirror Axis No mirror No of Parameters n Format No of values 4 1 Parameter address Value error code No of parameter address 4 format_n amount_n MSD Servo Drive User Manual Profibus MOOG MSD Servo Drive User Manual Profibus 30 The user data are structured as follows e Format Specifies the respective parameter and ensures a unique assignment of the para e Request reference meter value in the telegram The Request Reference is specified
20. OM_DP_Controlword2 P 1280 O OXFFFF 0 Yes U16 2nd Control value not used at first COM_DP_Statusword2 P 1281 O OXFFFF 0 No U16 2nd status value not used at first COM_DP_Bus_Timeout P 1283 0 4294967295 5000 Yes U32 Bus timeout COM_DP_SignalList_write P 1284 0 65535 0 No U16 List of parameters that can be used as process data reference values COM_DP _SignalList_Read P 1285 O 65535 O No U16 List of parameters that can be used as process data actual values COM_DP_TMaxScale P 1286 0 2000 1000 Yes U16 Online torque scaling COM_DP_TMaxPos P 1287 0 2000 1000 Yes U16 Positive online torque scaling COM_DP_TMaxNeg P 1288 O 2000 1000 Yes U16 Negative online torque scaling COM_DP_PZDSelectionWrite P 0915 0 65535 967 Yes U16 This parameter allows incoming process data to be linked to specific device parameters The parameters that can be entered are listed in parameter P 1284 The sub index O contains the first process data value PZD1 and so on COM_DP_PZDSelectionRead P 0916 0 65535 968 Yes U16 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 O contains the first process data value PZD1 and so on Table 8 1 Profibus parameters MOOC MSD Servo Drive User Manual Profibus 51 Chapter 8 MOOG MSD Servo Drive User Manual Profibus 52 Can be Parameter name Number Value range Default valu
21. P 0187 MPRO_REF_OVR P1279 Position control circuit and associated control parameters P 0376 P 1516 SCD_Jsum CON_IP_TFFScale 2n P 0320 CON_SCONLKp P 1272 P 0321 CONLSCON_Tn P 0402 CON_SCON_AddSRef P0325 CON_SCOMFilterFreq P 0326 CON_SCONMFilterAssi Pndi7 P 0327 CON_SCONFilterPara CON_SCONLSDiff P0458 MOT_Snom P 0328 CON_SCON_Smax P 0334 CON_SCON_SMaxPos P5333 CON SCON SMaxNog P OHACON_PEON_PocDiff P 0360 CONLPCONLKp P 0374 CON_JP_EpsDly Pref Ba P 0351 CON _SCALG Tr P 1271 COM_DP_ActSpeed P 1276 COM_DP_AvtPust Grenl S Figure 5 4 Position control circuit COM_DP_RefTorque P 0401 CON_SCON_AddTRef P0330 CON_SCON_TMaxNeg P0331 CON_SCON_TMaxPos P0332 CON_SCON_TMaxScale P0329 CON_SCON_Tmax P MAN MOT _TNom Torque controlled motor MOOC P no Parameter name Meaning P no Parameter name Meaning P 1270 COM_DP_RefSpeed Speed reference value P 0333 CON_SCON_SMaxNeg Negative speed limitation P 1278 COM_DP_Acc Acceleration ramp E salle n S dace es EE ae PAoa P 0417 CON_SCON_SDiff Speed controller differential P 0167 MPRO_REF_OVR Speed override P1271 COM_DP_ActSpeed RA P 1276 COM_DP_ActPos1 Current actual position P 1516 SCD_Jsum Gealan nre P 0402 CON_SCON_AddSRef Additive speed reference value P 0376 CON _IP_TFFScale e cont ole ace P 0458 MOT_Snom Nominal speed of
22. Read request 1 Read request via DPV1 33 33H to this is positive the user data can be used by the master In the event of an error a Write request 1 Write request via DPV1 33 33H negative reply is sent Figure DPV1 Read Request shows the telegram sequence for a noe 1 Alarm handling 33 33H read access This shows the slave sending a negative read reply to the first read request EAD Amovenieie rie acieeceniceso ied This negative read reply means that the required data cannot yet be provided MOOC MSD Servo Drive User Manual Profibus DM MOOC Not until the following cycle has the slave executed the request to the extent that it can send a positive read reply with the requested data Master DPV1 Parameter Request Write req DB47 with data parameter request Write res without data Read req DB47 without data Parameter Processing Read res without data Read req DB47 without data Read res with data parameter response Figure 4 1 DPV1 Read request This transmission format is in Big Endian Motorola the highest byte is transmitted first Word format 0 byte 1 byte High byte Low byte Double word format High byte Low byte High byte Low byte High word High word Low word Low word The data unit in the table Profibus SD2 telegram for DPV1 services of telegram type SD2 can be split into five areas MSD Servo Drive User Manual Profibus 28 Req id 1 byte
23. Snom Nominal speed of motor P 0328 CON_SCON_SMax Speed limitation reference value nominal speed of motor P 0334 CON_SCON_SMaxPos Positive speed limitation refe rence value nominal speed of motor P 0320 CON_SCON_Kp P 0321 CON_SCON_Tn P 0325 CON_SCONMFilterFreq P 0326 CON_SCOMFilterAssi P 0327 CON_SCOMFilterPara P 0351 CON_SCALC_TF MSD Servo Drive User Manual Profibus 36 P 0401 CON_SCON_AddTRef P 0330 CON_SCON_TMaxNeg P 0331 CON_SCON_TMaxPos P 0332 CON_SCON_TMaxScale F 0329 CON_SCON_Tmax P 0460 MOT_TNom VY L Torque controlled motor P no Parameter name Meaning P 0333 CON_SCON_SMaxNeg Negative speed limitation reference value nominal speed of motor P 0417 CON_SCON_SDiff Speed controller differential P 1271 COM_DP_ActSpeed Actual speed P 0320 CON_SCON_Kp PI soeed controller amplification P 0321 CON_SCON_Tn Pl_speed controller lag time P 0325 CON_SCOMFilterFreq Limit frequencies for torque reference value filter P 0326 CON_SCONFilterAssi Torque reference value filter draft parameter P 0327 CON_SCOMFilterPara Torque reference value filter parameter P 0351 CONES CALCHI Actual speed filter time constant Table 5 1 Control parameter P no Parameter name Meaning P 0401 CON_SCON_AddTRef Additive torque reference value P 0330 CON_SCON_TMaxNeg Negative torque limitation refe rence value nominal torque
24. a type Parameter name value range Sub index Status word COM_DP_Statuswort P 1271 Actual speed COM_DP_ActSpeed U16 0 655 35 116 32768 32767 WO EOF A U RSF u E OR oo ERSE m oy RR W N a O Table 7 6 Assignment of the slave master process data channels The following parameters must then be set for speed control mode 1 P 0300 CON_CfgCon SCON 2 Parameter list gt control This parameter allows the operating mode to be changed The setting SCON Speed Control Mode means that the drive is in speed control mode 2 P 0301 CON_REF Mode RFG O Parameter list gt Motion Profile gt Basic settings This parameter determines the mode of reference value input The position refe rence value can be input directly or via a ramp generator The setting RFG Ramp Function Generator means that the speed reference value is input via a ramp generator 3 P 0159 MPRO_CTRL_SEL Profibus 7 Parameter list gt Motion Profile gt Basic settings This parameter allows the control location to be set In this instance the control location is Profibus MOOC 4 P 0165 MPRO_REF_SEL PROFI 9 Parameter list gt Motion Profile gt Basic settings This parameter allows configuration of the reference value selector In this instance the reference values are taken from the Profibus Once these settings have been performed communication can be established be
25. ally performed in three phases Firstly the MSD Servo Drive is parameterised with the current bus parameters monitoring times and drive specific parameters phase 1 In the configuration phase a configuration sent by the master is compared with the actual MSD Servo Drive configuration phase 2 Once these two phases have been completed successfully the cyclic user data traffic Starts phase 3 The various telegram types Parameter Process Data Objects PPO are prepared in the GSD file These PPOs form the basis of the configuration phase The project engineer knows from the GSD file how many bytes are required for the input and output data for Profibus communication between the master and the servo controller and can use this information to perform his settings in the configuration tool As well as the standard telegrams in accordance with the PROFldrive Profile there are additional user specific telegram types In addition to the PZD process data channel the user specific telegram make partial use of a PKW parameter channel 3 1 1 Standard PROFldrive telegrams The table below lists firstly the standard Profidrive telegrams that are supported by the servo controller Table 3 1 explains the abbreviations used to assign standard telegrams to a specific process data channel The process data channel abbreviated to PZD is grouped by words MOOC Chapter 3 Number of words Abbreviation
26. alse Freeze ramp generato STW1 bit 6 True Activate reference value False Deactivate reference value 0 0 Reference value ae for the closed speed control Reference value RFG circuit COM_DP_RefSpeed Speed RFG Ramp Function Generator Figure 5 1 Speed control Setting the control word bit 4 allows the speed reference value to be taken over by the ramp generator The control word bit 5 releases the ramp generator resetting it freezes the ramp generator again 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 MOOC Chapter 5 MSD Servo Drive User Manual Profibus MOOC 5 2 Speed control circuit and associated control parameters P 0402 CON_SCON_AddSRef P 12783 COM_DP_Acc P 1275 COM_DP Dec P 0371 P 0167 MPRO_REF_OVR CON_IP_RefTF P 1270 COM_DP_RefSpeed Van aa Figure 5 2 Speed control circuit P 0458 MOT_Snom P 0328 CON_SCON_Smax P 0334 CON_SCON_SMaxPos P 0333 CON_SCON_SMaxNeg P0417 CON_SCON_SDifi COM_DP_ActSpeed P no Parameter name Meaning P 1270 COM_DP_RefSpeed Speed reference value P 1278 COM_DP_Acc Acceleration ramp P 1279 COM_DP_Dec Deceleration ramp P 0167 MPRO_REF_OVR Speed override P 0371 CON_IP_RefTF Filter time constant speed refe rence value P 0402 CON_SCON_AddSRef Additive speed reference value P 0458 MOT_
27. arameters All 3 groups have the same task which is to convert the user units to the fixed internal variables used by the servocontroller The first factor group is based on the CiA 402 stan dard The parameters of this group are described in detail in the CANopen specification CiA 402 The second factor group goes under the heading Sercos The parameters of this group refer to the Sercos specification SERCOS interface Version 2 4 February 2005 The parameters of this group are also described in detail in the respective specifi cation The third factor group is called user spec and is user specific group Since this factor group is not described in detail elsewhere the use of parameters of this group is illustrated by means of an example The user can select the factor group using the parameter MPRO_FG_Type Parameter number Parameter name P 0283 MPRO_FG_Type Meaning Selection of the factor group 0 STD 402 1 SERCOS 2 USER Table 7 3 Parameters The parameters of the USER factor group are listed in the table below Parameter Parameter name number Meaning P 0270 MPRO_FG_PosNorm Sensor resolution incr rev P 0271 MPRO_FG_Num Numerator position rev P 0272 MPRO_FG_Den Denominator position POS P 0274 MPRO_FG_SpeedFac Speed factor rev min SPEED P 0275 MPRO_FG_AccFac Acceleration factor rev sec se
28. array No No Value 0 Value 0 Value 4 Value 4 i Axis l Attr No Ele Pnu high Pnu Low Sub high Sub low Format high ca Refer i D Param Values high Low 0 2 0 1 0x10 5 3 0x93 0 O 0x42 5 3 C7 0 0 Table 4 18 1ID 2 Change Parameter Attr 0x10 Value Pnu 918 0x396 Format word 0x42 e Parameterwerte 0x03C7 OxO4F6 OxO4F6 Ox04F6 O OK reply e Parameter P 0915 now contains the entries for the parameter values e No standard telegram smaller than 10 is set up in the device since then it could not be overwritten Use remedy PPO5 MOOC MSD Servo Drive User Manual Profibus 33 Chapter 4 MOOC Read parameter values array Read assigned process data reference values o 2 o Ox10 5 Table 4 19 1D 1 Attr 0x10 Pnu 915 0x393 OK reply Req 1B 0 1 O Axis No Param 1 Format 0x42 N Ko Values 5 Value 0 high 3 Value 0 low OxC7 Value 1 high 4 Value 1 Low OxF6 Value 2 high 4 Value 2 Low OxF6 MSD Servo Drive User Manual Profibus Value 3 Value 3 Value 4 Value 4 high Low high low 5 0 0 0 Table 4 20 ID 1 Format 0x42 34 5 Operating modes 5 1 Speed Control In soeed control mode the speed control reference value can be influenced using 3 bits in the master control word 3 2 STW1 bit 4 True Activate ramp generator False Reset ramp generator STW1 bit 5 True Enable ramp generator F
29. by the master and mirrored back by the slave in the reply telegram Based on this reference the master can uniquely assign each e Number of values reply telegram to a request telegram A master changes the request reference with Number of following values each new request sValue e Request ID Parameter values This identifier has essentially the task of describing the type of parameter treat y T J yp i Field name DEV e mayel Value Meaning Comments ment Currently two different identifiers are defined Requesting for a parameter Field name Data type Value Meaning Comments Changing a parameter Request Unsigned8 0x00 Reserved Further details on identifiers can be found in the table User data L EASE Request ID Unsigned8 0x00 Reserved e Response ID 0x01 Request parameter This identifier contains information on the origin of a request If a request is 0x02 Change Parameter executed correctly the response ID matches the request ID If a request cannot be a och ae u et os x40 0x anufacturer specific executed an identifier in accordance with table User data is generated 0x80 0xFF Reserved e Axis No Response ID Unsigned8 0x00 Reserved This value allows an individual axis in a multi axis system to be addressed selec 0x01 Pears see 0x02 ange Parameter tively Axis No O single axis AB T a a e No of Parameters Ox40 0x7F Manufacturer specific 0x80 Reserved Number of parameters that are processed in a
30. c ACC P 0284 MPRO_FG_PosUnit Position unit String P 0285 MPRO_FG_PosExp Position exponent P 0286 MPRO_FG_PosScaleFac Position factor P 0287 MPRO_FG_SpeedUnit Speed unit String P 0288 MPRO_FG_SpeedExp Speed exponent P 0289 MPRO_FG_SpeedScaleFac Speed factor P 0290 MPRO_FG_AccUnit Acceleration unit String P 0291 MPRO_FG_AccExp Acceleration exponent P 0292 MPRO_FG_AccScaleFac Acceleration factor P 0293 MPRO_FG_TorqueUnit Torque unit String P 0294 MPRO_FG_TorqueExp Torque exponent P 0295 MPRO_FG_TorqueScaleFac Torque factor Table 7 4 USER factor group MOOC These define the internal resolution of the unit for Position rev Speed rev min Acceleration rev sec sec The units are automatically defined by the profiles themselves according to CiA 402 or Sercos The units can be input manually in User setting The parameters for unit and exponent refer to the display and have no effect on the standardisation of the variables themselves The following three formulae describe the conversion of user units into the units used internally in positioning mode They refer to reference position soeed and acceleration MPRO_FG_Num rev Reference position rev COM_DP_REFPos Userunit Intern MPRO_FG_Den User unit The quotient of parameters MPRO_FG_Num and MPRO_FG_Den describes the ratio of user unit to motor revolutions Furthermore is allows any gearing ratios or advance cons tants to be incorporated Positio
31. c data transmission DPV1 27 Appendix 53 Assignement of the Data Unit 29 Attributs 30 Axis No 30 B Bus termination 10 Bus adress 10 C Class 1 Master 13 Commissioning 9 Configuration phase 11 Connections 9 Control parameter 36 39 Control unit 10 Conversion of reference values and actual values 46 Cyclic data transmission DPVO 13 D Data exchange 11 DPV1 Read request 28 Drive status word 22 Drive status machine 24 E Error number 31 MOOC Establishment of communications 13 Examples 32 Examples for commissioning 45 Examples for setting the User Factor Group 48 F Factor Group Parameter 46 Factor Group USER 47 Format 30 G GSD file 11 H Homing 41 Homing run acceleration 41 Homing cams 41 Homing run method 43 Homing run speed 41 Homing runs performed by the drive 41 Identification format Identifier 16 identifier 17 Internal resolution 47 J Jog mode speed mode 21 L LEDs 11 Limit switches 41 MSD Servo Drive User Manual Profibus SE Chapter MOOC M Mappable parameters 50 Master control word 20 N Number of parameters 30 Number of elements 30 Number of values 30 O Operating displays 11 Operating modes 35 Operation diagnostics 11 P Parameter channel PKW 19 Parameter number 30 Parameter process data objects PPO 13 Position control circuit 39 Position control 37 Perfomance feartures 7 Phase1 13 Phase2 13 Phase3 13 Plug configuration
32. ctive i run quick stop inactive System status 5 es Aer 4 Switched on Power stage enabled g 5 Operation enabled Power supplied to motor operation active 4 Controller enabled 5 a A 13 Error 6 Quick stop active Quick stop active are E 7 Fault reaction active Fault reaction is active reference values 6 Power Switched on Error response active f stage blocked System status 4 J System status 7 l from the Profibus master are ignored GR 8 Fault Drive in fault condition reference values 3 Power stage 6 Power stage 14 Error response from the Profibus master are ignored i 1 a ste oe switched on blocked ended sid ta Quick stop can be triggered by various circumstances The parameter P 2218 MP_QuickStopOC allows the type of quick 7 Spin out of true or Ready to switch on Error stop to be selected quick stop activated Syst tatus 3 Syst tatus 8 yee Sas Samy Oe es eee Table 3 19 System statuses 2 Quick stop and spin 7 Quick stop or spin ut of true deactivated out of true activated 15 Error acknow 5 16 Hardware legeme Quickstop option M i lt enable blocked Switch on blocked d eaning System status 2 d coqe 0 Disable drive function 1 UZK OK 8 UZK too low 2 1 Slow down on slow down ramp Not ready to switch on Syetan stalus 2 Slow down on quick stop ramp i 3 Slow down on the current limit 0 Start E 4 Slow down on the voltage limit E e G 5 Slow down
33. d rate after the bus connection has already been established Awaiting parameterisation data II l Table 2 4 Operation diagnostics MOOC Chapter 2 LED 1 green LED 2 red Status Communication Data exchange without acyclic master class 2 connection Yellow LED lights up Communication Data exchange clear state Incorrect parameterisation data Incorrect configuration data Communication Data exchange with acyclic master class 2 connection IE Gil Table 2 4 Operation diagnostics LED 3 yellow Status Device is exchanging data Table 2 5 Data exchange 2 6 GSD Tile The device master data file contains the summary of the device features in a standar dised form The device features include for instance the device name the bus timing the extended services available and the modules that can be selected telegram types In order to use different telegram types the GSD file must be linked in at the configura tion phase of the Profibus network This file contains as well as the standard Profidrive Profile telegrams additional manufacturer specific telegram types MSD Servo Drive User Manual Profibus 1 MOOG MSD Servo Drive User Manual Profibus 2s 3 Cyclic data transmission DPVO 3 1 Parameter process data objects PPO The establishment of communications between a class 1 master and the MSD Servo Drive servo controller is essenti
34. e DEV e mayel Meaning changed COM_DP_Address P 0918 0 126 126 Yes U16 Station address of the inverter COM_DP_TelegramSelection P 0922 0 65535 0 Yes U16 COM_DP_SignalList P 0923 0 65535 0 No U16 This parameter lists all mappable parameters and signals for parameters P 0915 and P 0916 COM_DP_Warning P 0953 O OXFFFF 0 No U16 This parameter forwards warning messages from the Profibus These include bus timeout and PLC stop mode COM_DP_Baudrate P 0963 9 6 45 45 kbits s 9 6 kbit s No U16 Current Baud rate for bus communication COM_DP_Deviceld P 0964 O 65535 0 No U16 This parameter is for device identification COM_DP_ProfileNo P 0965 0 65535 0 No U16 Profile number not supported in the first step COM_DP_Controlword P 0967 O OXFFFF 0 Yes U16 Control word for the internal status machine COM_DP_Statusword P 0968 O OXFFFF 0 No U16 Status word for the internal status machine COM_DP_DataStore P 0971 0 255 0 Yes U16 This parameter permits storage of data in the non volatile memory COM_DP_DefinedParameter P 0980 0 65535 0 No U16 This parameter describes the defined parameters in the servo controller COM_DP_ModifiedParameter P 0990 0 65535 0 No U16 This parameter describes all the parameters in the servo controller that are not set to the default values Table 8 1 Profibus parameters 9 Appendix Glossary AK Application dat set Diagnostic data DP Master MW Parameter data PKW PNU ProfiD
35. e by project engineers commissioning engineers and pro grammers of drives and automation solutions involving the Profibus fieldbus It assumes that you have received appropriate training on Profibus and that you have 61 General 1 access to relevant reference books We assume that your drive has already been commis j sioned if not please first refer to the user manual 4 5 Operating modes 6 Homing 6 7 Commissioning examples 8 Profibus parameters Appendix Glossary key words directory MOOG MSD Servo Drive User Manual Profibus MOOC Pictograms Attention Incorrect operation may damage the drive or cause it to malfunc tion Danger from rotating parts The drive may start up automatically MSD Servo Drive User Manual Profibus 1 General 1 1 Measures for your Safety Servo controllers of the MSD Servo Drive family are quick and easy to handle For your own safety and for the safe functioning of your device please be sure to observe the following points Read the Operating Manual first e Follow the safety instructions Electric drives are subject to certain hazards e Electric voltages gt 230 V 460 V WX Dangerously high voltages may still be present 10 minutes after the power is switched off so always make sure the system is no longer live e Rotating parts e Hot surfaces Your qualification e In order to prevent personal injury or damage
36. e parameter value word anes Table 3 11 Reply identification AK Slave gt Master 3 Change parameter value double word ee In addition request identification 4 can be used to read a parameter description The 2 i parameter description receives relevant information regarding the respective parameter 6 Request parameter value array The following table shows the sub indexes that can be used to access the individual i Change parameter value array word parameter structure elements The sub index is indicated only by byte 3 8 Change parameter value array double word erences UE DENE Table 3 9 Request identification AK master gt slave 1 Identifier ID V2 2 Number of field elements or string length Unsigned 16 Table 3 12 Parameter description MOOC MSD Servo Drive User Manual Profibus 19 Chapter 3 MOOG MSD Servo Drive User Manual Profibus 20 Sub index Meaning Data type 3 2 Master control word 3 Standardisation factor Floating Point 4 Variable attributes OctetString 2 i Operating mode Speed Control Operating mode Positioning control 5 Reserved OctetString 4 Bit 15 6 Name only the first four bytes are sent VisibleString 16 MSB 7 Lower limit value OctetString 4 OO FEENS PEATONNG Ne tely after start enable 8 Upper limit value OctetString 4 1 Speed mode 9 Reserved OctetString 2 Bit 14 10 ID extension extension V2 a 0 Normal positioning 11 PZD reference param
37. eceeeeeeeeeeeeeeeeeeeeeeeueeaeaaaaes 9 23 TRG NON era spars decrease pie tendericertasmenutaoroeingesencacseveawiect neni ieies 10 2 4 Setting the drive AAAreSS 0 ccccceccccccccceeeeseseeeeeeeeeeeeeeeeeeeeesseeeeeeeeeeeeeeeeeseaaaeneeeeeess 10 2 5 Op rating displays wienauinsconciiduibsadiinilionicdaiaehinbrsuileiiiieidainimhimeaedietibeidataiamsdaiabpebletdquseradsibe 11 26 GSD TE pismi i ai i paea 11 CCG Gala transmission WP V0 waters sacecereoremacsindieeawresenexs 13 3 1 Parameter process data objects PPO cccccccccccccceeeeseeeeeeeeeeeeeeeeeeeeesseeneeeeeeeeeeeeeas 13 3 1 1 Standard PROFIdrive telegrams iasccciccncvesisenravrguvinenasitasiie ynmnadagiiumntadstepsoanodes 13 ziz Userspace PP OS crea aa i 15 31 3 PKW param ter CHAINS cicisscnisacismnainondicumitesiiennbunssaibdadsedsmciaanadagiiauitnibstepiedecnss 19 za NAGS OTO ea a E dann eeclne sceinin ager chtedeueateeeete 20 B21 JOG mode SCS OS sates crariericssrinstamacetatnsecnsianienanademinnusheusandedialan adele tacseanisateddats 21 S222 JOG MODE Positioning MOG sses EE A elias wendoicatadaleon 22 3 2 3 Jog mode reference value parameter 22 ccccccccccccccceceeeceeeeeseseeeeeeeeeeeeeaaeaees 22 23 DMO 02 U 3 10 9 een ter te oe eee me a eee noe Pe er te eT ed ne eae en ee 22 3A Dive tatus Te CT E eae tected estimates tits dum sates E A 24 MOOC 4 8 9 4 1 5 1 5 2 d 5 4 6 2 6 3 6 4 6 5 6 6 7 1 72 72 7 4 la Acyclic data transmissi
38. eter Unsigned 16 1 Speed mode 12 PZD standardisation V2 54 13 i Table 3 12 Parameter description i 0 Not used New reference values activated by toggling the master control word bit 6 The identifier Sub index 1 in the parameter description identifies additional characteris tics of the respective parameter Table 3 8 describes the meaning of the identifier Not used EN ee a eee Bit 12 Bit Meaning Explanation a O Not used Positioning reference value absolute Is Reserved 1 Not used Positioning reference value relative 14 Array Bit 11 13 Parameter value can only be reset If this bit is set the respective parameter 0 Morucci Stop homing run value can be varied externally only so as to be set to zero 1 Not used Start homing run 12 Parameter value was changed to a value If this bit is set the parameter value is Bit 10 different from the factory settings different from the factory settings 0 No access rights over the PLC 11 Reserved 1 Access rights over the PLC 10 Additional text array can be called up Bit 9 9 Parameter cannot be written 0 Jog mode 2 off Jog mode 2 off 8 Standardisation factor and variable attri This bit is set if the parameter is of a data 1 Jog mode 2 on Jog mode 2 on butes not relevant type that cannot be used to calculate any physical values e g data type string Bit 8 0 7 Data type of the parameter
39. for the Profibus cable 9 Positioning acceleration 47 Positioning mode 22 Positioning speed 47 Position control using PPO 5 45 Position unit 48 Process data 16 Process data signals 16 Profibus parameter 51 MSD Servo Drive User Manual Profibus PROFldrive 13 R Request ID 30 Request reference 30 Response ID 30 S Sensor resolution 48 Setting the drive adress 10 Speed control circuit and associated control parameters 36 Speed control 35 Speed control using PPO 2 48 Speed factor 48 Speed input 49 Speed unit 48 Subindex 30 System requirements 7 T Terminating resistor 10 U User controls 9 User data 30 User specific PPO s 15 V Values 30 Z Zeroing offset 41 56 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 StraBe 28 D 71034 B blingen Phone 49 7031 622 0 Telefax 49 7031 622 100 www moog com industrial drives support moog com Moog is a registered trademark of Moog Inc and its subsidiaries All quoted trademarks are property of Moog Inc and its subsidiaries All rights reserved 2011 Moog GmbH Technical alterations reserved The contents of our documentation have been compiled with greatest care and in compliance with our present status of infor mation Nevertheless we would like to point that this document cannot always be updated parallel to t
40. g 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 desired para meter numbers Signal table P 0915 PZD area Sub index Parameter Data type Parameter name number value range 0 P 0967 Control word COM_DP_Control U16 0 65535 word 1 2 P 1270 Reference speed COM_DP_Ref 116 32768 32767 Speed 2 3 P 1278 Acceleration COM_DP_Acc U16 0 65535 3 4 P 1279 Braking deceleration COM_DP_Dec U16 0 65535 4 5 5 6 6 7 7 8 8 9 9 10 Table 7 5 Assignment of the master slave process data channels Each sub index represents a 16 bit wide process data channel For this reason for instance an Int32 must be mapped to two sub indices The parameters available for selection and their data types are listed in table Assignment of the master slave process data channels The configuration of the process data areas can be freely selected by the user in the sequence of the signal assignments The only requirement is that the data type format must be complied with That means that a 32 bit variable also requires 2 process data channels The following table shows an example of the process data area from the drive to the master For this purpose the sub indexes in list P 0916 are assigned the desired parame ter numbers Signal table P 0915 ZADEL Parameter number Dat
41. gative and positive flank positive flank profile 4 1 profile 4 0 The jog mode is manufacturer specific The jog mode behaves as described in profile 4 1 Table 3 15 Master contro word 3 2 1 Jog mode speed mode Bit 8 and 9 of the control word provide a jog mode in the speed mode If bit 8 of the parameter P 1267 COM_DP_CtrlConfig is set to 0 the drive behaves as follows jog mode manufacturer specific e f bit 8 is set to 1 the drive applies the speed that is given in parameter P 1268 COM_DP_RefJogSpeed1 e If bit 9 is also set to 1 the value in the parameter P 1269 COM_DP_RefJogSpeed2 is used as the reference value e If bit 9 is set to O again P 1268 COM_DP_RefJogSpeed1 is used as the reference again e f bit 8 is set to O while bit 9 is still set to 1 there is no change e f bit 9 is set to 1 the drive applies the negated speed that is given in parameter P 1268 COM_DP_RefJogSpeed1 The direction of rotation is therefore inverted e f bit 8 is also set to 1 the negated value in the parameter P 1269 COM_DP_Ref JogSpeed2 is used as the reference value e If bit 8 is set to O again P 1268 COM_DP_RefJogSpeed1 is used as the reference again e f bit 9 is set to O while bit 8 is still set to 1 there is no change e In case of negative reference values a negated speed is positive again e The jog mode can only be activated if the motor is at standstill MSD Servo Drive User Manual Pr
42. gt Basic settings This parameter allows the mode of the position reference value to be input The position reference value can be input directly or via a ramp generator The setting RFG Ramp Function Generator means that the position reference value is input via a ramp generator 3 P0159 MPRO_CTRL_SEL Profibus 7 Parameter List gt Motion Profile gt Basic settings This parameter allows the control location to be set In this instance the control location is selected as Profibus MSD Servo Drive User Manual Profibus 46 4 P0165 MPRO_REF_SEL PROFI 9 Parameter list gt Motion Profile gt Basic settings This parameter allows configuration of the reference value selector In this instance the reference values are taken from the Profibus Once these settings have been performed communication can be established between the master and drive 7 2 Conversion of reference values and actual values using factor group parameters Conversion of reference values and actual values using factor group parameters n positioning applications the inputting of reference values and the return of actual values are generally performed using application specific user units mm degrees The reference values and actual values of the drive are converted using what are called factor group parameters Parameter list gt Motion protile gt Standardisation units For these the user has the facility to differentiate between 3 different groups of p
43. hange Parameter Attr 0x10 Value Pnu 918 0x396 Format word 0x42 Positive reply Table 4 9 ID 2 Change Parameter e Parameter P 0918 now has the value 7 Write double word Refer Req Axis No Pa Attr No Ele Pnu high Pnu Low 1D ram PS Sub high Sublow Format No Value Value Value Value Values high Low high low 0 0 0x43 1 1 2 3 4 Table 4 10 1ID 2 Change Parameter Attr 0x10 Value Pnu 918 0x396 Format word 0x42 Table 4 11 1ID 2 Change Parameter e Parameter P 0884 now has the value 16909060 MSD Servo Drive User Manual Profibus 32 Read simple parameter value Read word oxi0 oa 3 ox o o ID 1 Request Parameter Attr 0x10 Value Pnu 922 0x39A 0 1 o 1 Table 4 12 Positive reply Format values oz 1 o 9 Table 4 13 Format word 0x42 Parameter value 9 Read double word Table 4 14 ID 1 Request Parameter Attr 0x10 Value Pnu 922 0x39A Positive reply Format values of o i fos S S o O Table 4 15 Format word 0x43 Parameter value 0x01020304 16909060 Defective accesses Defective parameter numbers o 1 o 1 oto on o 9 o o0 Table 4 16 1ID 1 Request Parameter Attr 0x10 Value Pnu 9 Negative reply Format values o ot o 1 o4 1 o o Table 4 17 Format error 0x44 Parameter value O incorrect parameter number Write parameter values
44. he parameter P 2261 MPRO_402_HomingMethod Parameter list gt Motion Profile gt Homing Further information can be found in the MSD Servo Drive user manual on our product DVD MOOG MSD Servo Drive User Manual Profibus E MOOG MSD Servo Drive User Manual Profibus o4 7 Examples of commissioning using Manufacturer specitic telegrams 7 1 Position control using PPO 5 The following section describes how the drive can be simply and quickly commissioning in the position control mode Firstly the GSD file LUSTOA33 gsd must be linked in during the Profibus configuration phase and then the PPO type 5 selected PPO type 5 consists of a PKW channel 8 byte and 10 process data channels 20 byte The process data area can be freely configured using this manufacturer specific telegram That means that the desired reference values and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus gt Profibus DP in the left tree structure of the ope rating tool Within this folder directory the signal list P 1284 COM_DP_SignalList_Write contains all possible process data signals 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 assign the process data channels freely as required The actual assign
45. he technical further develooment of our products Information and specifications may be changed at any time For information on the latest version please refer to drives support moog com ID no CA65645 001 Rev 2 0 08 2011
46. ing PPO 2 The following section describes how the drive can be simply and quickly commissioning in the speed control mode Firstly the GSD file LUSTOA33 gsd must be linked in during the Profibus configuration phase and then the PPO type 2 selected PPO type 2 consists of a PKW channel 8 byte and six process data channels 12 byte The process data area can be freely configured using this manufacturer specitic tele gram That means that the desired reference values and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus gt Profibus DP in the left tree structure of the operating tool Within this folder directory the signal list P 1284 COM_DP_SignalList_Write contains all possible process data signals MSD Servo Drive User Manual Profibus 48 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 signal tables P 0915 and P 0916 Parameter list gt Fieldbus gt ProfibusDP Signal tab le P 0915 COM_DP_PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table P 0916 COM_DP_PZDSelectionRead contains all signals that can be sent by the drive to the control master The followin
47. l ele Actual values XIST_A zsw2 NISTA Table 3 3 Standard telegram 8 Standard telegram 9 is a defined telegram type for positioning It consists of 6 input words and five output words as shown in the following table ADEA Reference values STW1 TARPOS_A STW2 VELOCITY_A ADEA Actual values zswi XIST_A zsw2 NISTA Table 3 4 Standard telegram 9 Every standard telegram in the device is described in the GSD file by a PROFIdrive Profile configuration identifier ID The following table shows these identifiers for the selected standard telegrams Telegram type Data area Identifier ID Standard telegram 1 2 output words and 2 input words OxC3 OxC1 OxC1 OxFD 0x00 0x01 Standard telegram 7 2 output words and 2 input words C3 0xC 190 G1 OFDD 000 0x07 Standard telegram 8 5 output words and 5 input words OxC3 0xC4 OxC4 OxFD 0x00 0x08 Standard telegram 9 6 output words and 5 input words OC OXC5 OCA 0xFD 0x00 0x09 Table 3 5 Identifier 3 1 2 User specific PPOs As well as the standard telegrams that are supported there are in addition further user specific PPOs Parameter Process data Objects The following PPOs are also transmitted cyclically and in addition to the PZD process data channel partially contain a PKW para meter channel thereby allowing access to the drive parameter values
48. llowing table shows these identifiers for the user specific telegrams Identifier ID Hex Identifier ID Bin Evaluation using the special identification format Figure 3 6 Reference to Table AK slave master 1 OxF3 1111 0011 4 words input output data consistent overall length 2 words input output Berane OxF1 1111 0001 data consistent overall length gt 0X9 1111 0011 4 words input output data consistent overall length 6 words input output PZD channel OxF5 1111 0101 data consistent overall length OxF1 1111 0001 2 words input output data consistent overall length PKW channel 4 OxF5 One 6 words input output data consistent overall length PZD channel 5 OxF3 1111 0011 4 words input output data consistent overall length 10 words input output PZD channel OxF9 1111 1001 data consistent overall length OxF3 1111 0011 4 words input output data consistent overall length PZD channel OxF3 1111 0011 4 words input output data consistent overall length 4 words input output l PKW channel OxF3 1111 0011 data consistent overall length OxF7 1111 0111 8 words input output data consistent overall length PZD channel OxF3 1111 0111 4 words input output data consistent overall length 8 words input output PZD channel OxF7 1111 0111 data consistent overall length OxF9 1111 1001 10 words input output data consistent overall length PKW channel OxCO OxCD 14 words input output data co
49. n red SHIELD Earthed shield H3 LED for status indication green 2 RP Reserved for power supply via the bus Rotary coding switch for setting the Profibus address for the S1 drive oa 3 B B red RxD TxD P Send and receive data 52 Rotary coding switch for setting the Profibus address for the 4 CUUR SOLO Sona or apent e drive Ox S2 S1 Data reference potential and power supply to 5 C C DGND ae e i terminating resistor 6 VP Power supply for terminating resistor 7 RP Reserved for power supply via the bus X14 Dratibuccacle connecuon 8 A A green RxD TxD N Send and receive data 9 CNTR N Control signal for repeater Table 2 2 Description of pin assignment The pin assignments shown with dark backgrounds in the table are not necessary from 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 Table 2 1 Profibus options card MOOG MSD Servo Drive User Manual Profibus Chapter 2 MOOC 2 3 Bus termination If the servo controller is initially at the end of the bus system a plug with an integral terminating resistor Rt should be used In addition to the cable terminating resistor in ac cordance with the EIA 485 standard a pull down resistor Rd against the data reference potential DGND and a pull up resistor Ru against VP are provided This ensures a detined no load potential of 1 1 Volt bet
50. n order to transmit a real 32 bits The parameters available for selection and their data types are listed in chapter 6 The configuration of the process data channels can be freely selected by the user in the sequence of the signal assignments However the data type format must be complied with The following table shows an example of the process data area from the drive to the master For this purpose the sub indexes in list P 0916 are assigned the desired parame ter numbers MSD Servo Drive User Manual Profibus 45 Chapter 7 MOOC Signal table Parameter Data type P 0915 PZD area Parameter name number value range Sub index 0 1 P 0968 Status word COM_DP_Sta U16 0 65535 tuswort 1 gt P 1276 Actual position COM_DP_Act 132 Pos 2147483648 Actual position COM_DP_Act 2 3 P 1276 Pos1 2147483647 3 4 P 1281 Status word 2 COM_DP_Sta U16 0 65535 tusword2 Actual soeed COM_DP_ 116 a 2 ee ActSpeed 32768 32767 5 6 6 7 7 8 8 9 9 10 Table 7 2 Example of assignment of the slave master process data channels The following parameters must then be set for position control mode 1 P 0300 CON_CfgCon PCON 3 Parameter list gt Motor control This parameter allows the control mode to be changed The setting PCON Position Control Mode means that the drive is in position control mode 2 P 0301 CON_REF_Mode RFG 0 Parameter list gt Motion Profile
51. ndard Profibus set up program or a Profibus interface driver MSD Servo Drive User Manual Profibus MOOG MSD Servo Drive User Manual Profibus a 1 4 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 CiA 301 Rev 4 0 Application Layer and Communication Profile CiA 402 Rev 2 0 Device Profile Drives and Motion Control Profibus User Organisation Profidrive Profil Drive Technology for Profibus and Profinet Version 4 1 May 2006 Order no 3 172 2 Commissioning the 2 2 Plug configuration for the Profibus cable Profi D US nte rfa ce Hi A Da aie eer i sub D plug The pin assignment is shown in RxD TxD P DGND 12 3 4 5 2 1 Connections and user controls The connections and user controls for the Profibus interface are shown schematically X14 6 7 8 9 in Figure 2 1 The LEDs H1 H2 H3 act as status indicators The rotary coding switches VP RxD S1 and S2 can be used to set the Profibus address for the drive The Profibus cable is 5Volt TxD N connected to the plug X14 Figure 2 1 Pin assignment of sub D plug connector Front plate No Comments H1 LED for status indication yellow PIN RS 485 Signal Description H2 LED f indicati or status indicatio
52. ning speed rev rev COM_DP_REFSpeed User unit MPRO_FG_SpeedFac mem Tmin Min User unit Positioning speed The parameter MPRO_FG_SpeedFac offers the facility to change the number of decimal points for the positioning speed or the unit of the positioning speed Positioning acceleration rev rev Positioning speed COM_DP_Acc User unit MPRO_FG_AccFac sec User unit Intern sec 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 MSD Servo Drive User Manual Profibus A7 Chapter 7 MOOC 7 3 Examples for setting the user factor group The positioning instructions should be input in degrees so that 360 corresponds to one revolution of the motor 65536 increments per revolution of the motor The speed should be input in rom and the acceleration in rom sec This gives the following values 655 36 incr rev 1 rev 360 POS 1 revmin SPEED P 0275 Acceleration factor 1 60 rev sec sec ACC P 0284 Position unit string Degree P 0287 Speed unit string 17min P 0290 Acceleration unit string P 0270 Sensor resolution P 0271 Position numerator P 0272 Position denominator P 0274 Speed factor 1 min sec z POS User unit for position SPEED User unit for speed ela EE User unit for acceleration 7 4 Speed control us
53. nsistent overall length PZD channel OxCD OxF3 ae 14 words input output data consistent overall length PZD channel OxCD OxCO OxD1 18 words input output data consistent overall length PKW channel OxD1 OxF3 a 18 words input output data consistent overall length PZD channel OxD1 OxCO OxD5 22 words input output data consistent overall length PZD channel OxD5 OxF3 Sone 22 words input output data consistent overall length PKW channel OxD5 Table 3 7 Listing of identifiers MOOC Chapter 3 MSD Servo Drive User Manual Profibus MOOC Identifier ID Hex OxCO OxD9 OxD9 Identifier ID Bin Evaluation using the special identification format Figure 3 6 26 words input output data consistent overall length Reference to Table AK slave master OxF3 OxCO OxD9 OxD9 26 words input output data consistent overall length PKW channel OxCO OxDD OxDD 30 words input output data consistent overall length OxF3 OxCO OxDD OxDD 30 words input output data consistent overall length PKW channel Table 3 7 Listing of identifiers MSD Servo Drive User Manual Profibus 3 1 3 PKW parameter channel Reply identification Function Some PPOs offer an additional cyclic parameter channel This channel allows drive 0 No reply parameters to the read and written 1 Parameter value sent word Parameter value sent double word Ist byte 2nd byte 3rdbyte 4th byte 5th
54. ofibus 21 MOOC e f 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 e The jog mode can only be activated if the motor is at standstill e Bits 4 to 6 of the control word are O e f bit 8 is set to 1 the drive applies the speed that is given in parameter P 1268 COM_DP_RefJogSpeed1 e f bit 9 is set to 1 the drive applies the speed that is given in parameter P 1269 COM_DP_RefJogSpeed2 e If bit 8 and 9 are set there is no change the old reference value is retained 3 2 2 Jog mode positioning mode The jog mode for the positioning mode behaves as for the speed mode Bit 4 and 5 of the control word must be set 3 2 3 Jog mode reference value parameter e The parameters P 1268 COM_DP_RefJogSpeed1 and P 1269 COM_DP_Ref JogSpeed2 are of type Int32 and can be mapped as process data Bit O 11 Not used Bit 12 15 Master sign of life Table 3 16 Master control word 2 If no synchronous application is implemented the master sign of life need not be trans mitted allowing the entire second status word to be freely assigned MSD Servo Drive User Manual Profibus DP Drive status word Operating mode Speed Control Operating mode Positioning control Table 3 17 Drive status word Bit 15 Not used MSB Bit 14 0 ENPO or
55. on DPV1 cccccccceeeecccee ee eeeeeenee ees 27 Examples of request and reply telegrams c cece cc cccccccccccccceceeeeeeeeeeeeeeeueueueaes 32 Operan WGC GS sisaren EEE 35 PE CO er a E E E REN 29 Speed control circuit and associated control parameters ssssisiiiiiiseeerssrrrrrirn 36 POSION C ONTO lorean E E E E E E EE EEE 37 Position control circuit and associated control parameters esssssssisiiieceeeeernenn 39 TORA eero e E E E 41 Homing runs pertormed Dy the CVG sisisrassriinesni nereiidi ai Da 41 Honing TUN Spee ureien a a sid OEE 41 Homing ran acceleratONeurcarisaniniisi ine i a i ON EEA 41 LOT OUNG OlSEAN 41 Homing cams Imit SWINE Sereas pi a EAE 41 Honung ran WINCH eeren a EE O O AEE 43 Examples of commissioning using manufacturer specific AE tuck AA E 45 Position controlusing PPO D accatinstinennccradontativsauniuanddniandondamasinanideddateniadnrivtenauedan 45 Conversion of reference values and actual values using factor group parameters 46 Examples for setting th user factor QrOU Dinsis ccevssusarsruieoiasccersnaderaresheiessorssudntnesonti 48 Speed contol us mo PP Z eessen a E a S a r R 48 TAA E a E AE 49 PO cd pararme EIS onis E E AEE 50 Profibus parameters sesrerisinisisne naa 51 APPEN GOSSA ee eeren E EE E ERE ope MSD Servo Drive User Manual Profibus MOOG MSD Servo Drive User Manual Profibus Oa How to use this manual Dear user This manual is intended for us
56. r Homing run type for distance coded l l l distance coded encoder encoder for positive direction 1 SpeedSwitch Speed when moving to the limit switch 6 move pos direction for Homing run type for distance coded 2 SpeedZero Speed when moving to the zero point distance coded encoder encoder for negative direction Act position homing offset multiturn encoder Homing absolute encoder 6 3 Homing run acceleration i Homing mode type 22 Homing in progress negative flank of Ds va me with continuous reference the homing cam The homing run acceleration is specitied by parameter P 2263 MPRO_402_HomingAcc in 7 the parameter editor Parameter list gt Motion Profile gt Homing 3 HOMSW Homing moade type ag Homing in progress positive flank of with continuous reference the homing cam 2 No homing mode act No homing run positioning is only 6 4 Zeroin o offset position homing offset by offset Reference position Absolute encoders such as SSI multiturn encoders present a special case for the homing 1 homing offset parameter Current position Zero run since they directly generate the absolute position reference For homing using these ROGEN encoders it follows that no movement is required and in some circumstances even no 0 Not defined No homing run power to the drive Furthermore the zeroing offset must be determined The type 5 MOOC MSD Servo Drive User Manual Profibu
57. rive Mode PZD Slave SPM Status machine MOOC Request identification Factory pre defined data set for solution of typical applications The master reads the diagnostic data from the slave and thus permits a central response to slave malfunctions Distributed I O The supervisory controller which provides communications Flag word The PKW parameter channel is used to transmit parameters cyclically to and from the drive device Parameter identification value Parameter number Configuration of the process data channel compatible with the ProfiDrive profile In contrast to EasyDrive mode the system statuses are changed by defined series of control sequences The system status machine defined in the Profibus standard specifies the individual system status transitions Process data The process data channel contains the functions Load control and status Input reference values and Display actual values A slave is a bus participant on the Profibus DP which in contrast to the master responds exclusively to the requests directed to it Spontaneous message 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 MSD Servo Drive User Manual Profibus Chapter 9 53 MOOG MSD Servo Drive User Manual Profibus o 54 Index A Acceleration unit 48 Acceleration factor 48 Acycli
58. s 41 Chapter 6 MSD Servo Drive User Manual Profibus AD MOOC Parameter identifier Parameter identifier Identifier at MDA 5 Function Identifier at MDA 5 Function Setting Setting MPRO_402_Homing P Sete MPRO_402_Homing eee P 2261 TONT Digital inputs P 2261 Method Digital inputs 1 LCCW Neg end switch zero Homing run negative limit switch and 23 to 30 HOMSW Left reference cam polarity Various homingiun Oane pulse zero impuls Stop at RefNock Low 2 LCW poss endai Homing run positive limit switch and 31 32 Not defined Reserved zero impuls os a 33 g Next left zero pulse Zero impulse in negative direction of oming run to cams negative travel Pos reference cams zero ee N 3 HOMSW ee at flank positive direction of trave zero pe ae ene impuls 34 i Left reference cam polarity Zero impulse in positive direction of Stop at RefNock High travel p f Homing run to cams positive 4 HOMSW OS Tererence cams Zero flank positive direction of trave zero 35 i Actual position Refe The instantaneous position is the zero pulse at RefNock High impuls rence position position iege reierenice cams er Homing run to cams negative 5 HOMSW f flank tive directi ft B a pulse at RefNock Low ie w e E The signal for the homing cams can optionally be linked to one of the digital inputs for which the inputs ISDOO to ISD06 are available Furthermore the limit switches can
59. s data available to be written are determined by the PPO type that is selected The process data signals that can be read can be configured in the signal table P 0916 COM_DP_PZDSelectionRead The number of process data available to be read are also determined by the PPO type that is selected When using standard telegrams the process data signals in the signal tables are automa tically configured by the firmware A maximum of 15 process data signals can be mapped Here both words and double words can be used The user specific drive telegram types are described by a configuration identifier ID in the GSD Tile This describes the structure of the cyclic report data using a special identifi cation format shown in the figure below 7 0 Length of the data 00 1 byte word 15 16 bytes words Input Output 00 specific identification format 01 input 10 output 11 input output 0 byte 1 word 0 consistency over byte word 1 consistency over the overall length Figure 3 2 Identification format Identifier MSD Servo Drive User Manual Profibus 16 After the parameterisation phase the master sends the drive a configuration telegram containing this special identification ID On receipt of this the drive compares the data in the configuration telegram with the configuration held in the drive The identifier determined by the PPO type can be found in the GSD file under the heading Modules The fo
60. ta Frame End De 3 Read t SE i imi Read regues Delimi repeat Delmi tion Adress tion Service Unit Check _ limiter q ter ter Adress Service Access Se Access Point quence Point 63H X x 68H a 7 7 e T 68H xx 32 30 SE 0o 2F MAX x 16H Table 4 1 Profibus SD2 telegram for DPV1 services 4 Read reply 5E The acyclic services can be used equally well by a class 1 master PLC etc and by a class 2 master PC tool The following table gives and overview of the acyclic services availab le in relation to the respective master class Index Length 68H xx 32 30 5 o 2 n on Xx 16H Chapter 4 Acyclic services oe Meaning DSAP SSAP Each read or write access must first be initiated by a write service on Data Unit Index 47 2Fhex 1 This write request gives the slave the information about the request it should Mate egue 2 ese en even call ath execute After this the slave acknowledges with a reply telegram 2 which initially con Abort request 2 Break off an acyclic connection 32H 0 30H tains no reply data oe eee ee o This is simply an acknowledgement of the request and contains only the mirrored DPV1 segues A AA A ae header of the request telegram In the event of an error a negative reply is sent To then Data request 2 Data transfer 32H 0 30H read the data from the slave the master must present a read request 3 If the reply 4
61. tage inactive not ready 1 Power stage active ready Bit O 0 Not ready to start 1 Ready to start Table 3 17 Drive status word Bit Meaning 0 1 Profile generator status 0 Stop 1 Acceleration 2 Positioning with allowable speed 3 Delay Torque limitation with positive direction of travel Torque limitation with negative direction of travel ISDOO ISDO1 ISDO2 7 ISDO3 Table 3 18 Drive status word 2 O m HR W N MOOC MSD Servo Drive User Manual Profibus 23 Chapter 3 MOOC 3 4 Drive status machine MSD Servo Drive User Manual Profibus 24 System status Designation Description 0 System initialisation running start Initialisation after device reset e g hard P10 perform changes to the control word STW bit 10 must be set X ware parameter list controller B from system status 2 the Safe Standstill must first be set and then a positive flank of the ENPO occur T A s 1 Not ready to switch on Initialisation completed but no power Quick stop active supply or intermediate circuit voltage less T BUSSES a than switch on threshold rd X 2 Switch on inhibit switch on Intermediate circuit voltage greater than a a disabled switch on threshold 3 Ready to switch on Optional conditions satisfied e g homing i Control a
62. tween the master and drive 7 4 1 Speed input All factor group parameters are set to default values The speed reference value can then be input scaled to the motor nominal speed So a value of 16384 corresponds to a speed reference value of 100 of the motor nominal speed By using the control word section 3 2 the drive can then be operated in speed control mode MSD Servo Drive User Manual Profibus 49 Chapter 7 MOOG MSD Servo Drive User Manual Profibus 7 5 Mappable parameters Parameter number Parameter name P 0967 COM_DP_Controlword X X 1 P 0968 COM_DP_Statusword X 1 P 1280 COM_DP_Controlword2 X X 1 P 1281 COM_DP_Statusword2 X 1 P 1270 COM_DP_RefSpeed X X 1 P 1271 COM_DP_ActSpeed X 1 P 0121 MPRO_lnput_State X 1 P 0143 MPRO_Output_State X 1 P 1274 COM_DP_RefPos X X 2 P 1276 COM_DP_ActPos1 X 2 P 0207 MPRO_TAB_Actldx X X 1 P 1275 COM_DP_TargetPos X X 2 P 1277 COM_DP_PosVelocity X X 2 P 1278 COM_DP_Acc X X 1 P 1279 COM_DP_Dec X X 1 P 1287 COM_DP_TMaxPos X X 1 P 1288 COM_DP_TMaxNeg X X 1 Table 7 7 Mappable parameters Further mappable parameters can be found in the signal tables P 1284 COM_DP_Signal List_Write and P 1285 DP_SignalList_Read Parameter List gt Fieldbus Profibus DP 8 Profibus parameters The following table describes the Profibus parameters that are available
63. ween pins 3 and 8 In a made up Profibus cable these resistors are all incorporated as standard in the Profibus plug and the terminating resistor can be activated using a switch on the Profibus plug The following figure shows a Sub D 9 pin plug bus termination Vp 5 Volt 6 Ru 390 Ohm RxD TxD P 3 B red Rt 220 Ohm RxD TxD N 8 A green Rd 390 Ohm GND 6 Profibus cable Figure 2 2 Sub D 9 pin plug bus termination MSD Servo Drive User Manual Profibus 10 2 4 Setting the drive address The drive address can be set as standard using the rotary coding switches on the options card see Fig 2 1 The address range runs from O to 125 The drive address is not loaded until a 24 Volt reset has been applied to the device The drive address can also be assigned using parameter P 0918 COM_DP_Address For this purpose the rotary coding switches must be set to value in excess of 125 The drive address set by software address is not loaded until a 24 Volt reset has been applied to the device 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 rating instructions tor MSD Servo Drive Compact Diagnostics can be performed on the MSD Servo Drive Compact using the internal control unit in the device The control unit comprises the following elements that are all positioned on the front e 2 digit 7
64. with ramp ZSW bits 10 13 FALSE Speed zero Intermediate stop Figure 5 3 Position control A positioning command is activated if the control word bit 4 the feed hold is set via bit 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 MSD Servo Drive User Manual Profibus 3y MOOC 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 This corresponds to the last PROFIDrive profile 4 1 If the feed hold is reset whilst a movement command is active the drive will be braked via a ramp to a standstill and is set to the status intermediate stop The current move ment request will not be executed until the feed hold is set again A movement request can be interrupted by resetting control word bit 4 In this case the drive will also be braked to a standstill and set to the status Control active In the initial status 5 additionally a homing run can be triggered by the control word bit 11 MSD Servo Drive User Manual Profibus 38 5 4 P 1275 COM_DP_TargetPos P1277 COM_DP_PosVelocity P1278 COM_DP_Acc IN COM_DP_Dec
65. ypes 0x37 0x3F Reserved 0x40 Zero 0x41 byte 0x42 Word 0x43 Double Word 0x44 Error 0x45 0xFF Reserved No of Values Unsigned8 Ox00 0xEA Quantity 0 234 Limited by DPV1 OxEB OXFF Reserved telegram length Error Number Unsig Ox0000 Error Numbers ned16 OxOOFF see table below Error number Meaning 0x15 Reply telegram is too long 0x16 Impermissible parameter address 0x17 Illegal format 0x18 Number of parameter values is inconsistent 0x19 Request is for an non existent axis Table 4 7 Error number Table 4 6 User data Error number Meaning Error number Impermissible parameter number 0x00 Parameter value cannot be changed 0x01 Value area of the parameter transgressed 0x02 Defective parameter sub index 0x03 Parameter is not an array 0x04 Incorrect parameter data type 0x05 Change access with value not equal to zero which is not permitted 0x06 nderungszugriff mit Wert ungleich Null der nicht erlaubt ist 0x07 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 MOOC MSD Servo Drive User Manual Profibus 31 Chapter 4 MOOC 4 1 Examples of request and reply telegrams Write word high Low high o 2 0 1 x0 01 3 o o o2 1 o 7 Table 4 8 ID 2 C

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