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MSD Servo Drive User Manual

1. Description Unit CP2 CP3 CP4 P 0 0290 Unit for acceleration and deceleration values x x P 0 0293 Unit for torque values x x P 0 0300 Select control mode P 0 0301 Mode selection of setpoint profiling P 0 0302 Switching frequency x x P 0 0303 current control sampling time ms x x x P 0 0304 Speed control sampling time ms x x x P 0 0305 Position control sampling time ms x x x P 0 0306 Sampling time for interpolation ms X x x P 0 0307 Voltage supply mode must be set correctly x x P 0 0310 current control gain V A P 0 0311 current control integration time constant ms P 0 0312 actual motor voltage rms phase to phase V x x x P 0 0313 VF control boost voltage at zero frequency V P 0 0314 VF control nominal frequency Hz P 0 0315 VF control voltage at nominal frequency V P 0 0320 Speed control gain Nm rpm P 0 0321 Speed control integration time constant ms P 0 0322 Speed control gain scaling factor 96 P 0 0323 Advanced control structure gains P 0 0324 Advanced control structure filtering P 0 0325 Filter frequencies of digital filter Hz x x P 0 0326 Digital filter design assistant P 0 0327 Coefficients of digital filter P 0 0328 Speed control maximum speed Yo P 0 0329 Motor torque scaling of limits 96 P 0 0330 Motor torque scaling of negative limit Yo P 0 0331 Motor torque scaling of positive limit Yo P 0 0332 Motor torque scaling online
2. Bit Explanation Bits 15 13 3003 Drive to follow setpoints Bit 15 MSB Drive ON OFF 0 Drive OFF On switching from 1 0 the drive is shut down as best as possible according to the setting of P 0 2219 then the torque is shut off as necessary at standstill the power stage can remain active only possible if bit 14 1 and with corresponding setting of P 0 2219 then the torque is shut off at speed nmin the power stage can remain active only possible if bit 14 1 1 Drive ON Bit 14 Drive ENABLE 0 No enable On switching 1 e O the torque is shut off and the power stage disabled with no delay regardless of bits 15 and 13 1 Drive enable Bit 13 Drive HALT can be used to stop the drive without reference to the current active control function 0 Drive stop The drive is no longer following the setpoints On switching from 1 e O the drive stops according to the setting of P 0 2221 and taking into account the last active acceleration by default according to acceleration parameter P 0 2242 and remains under control only possible if bits 14 and 15 1 and with an appropriate setting of P 0 2221 1 Drive start On switching from O e 1 the original function is resumed If the master control system has not updated the position setpoint jumps may oc cur resulting in shut off due to tracking error Bit 12 Reserved Bit 10 IPOSYNC Not supported Bit 11 9 8 Specified operat
3. Number Description Unit S 0 0080 Torque reference TORQ S 0 0081 Additive torque setpoint TORQ S 0 0084 Actual torque TORQ P 0 0329 Absolute torque limit reference variable motor nominal torque P 0 0330 Negative torque limit reference variable motor nominal torque P 0 0331 Positive torque limit reference variable motor nominal torque P 0 0332 Online torque limit reference variable motor nominal torque P 0 0460 Motor nominal torque Nm Table 6 3 Torque control parameter Rule Tmin_neg MIN P 0 0332 P 0 0330 P 0 0329 P 0 0460 Tmin_pos MIN P 0 0332 P 0 0331 P 0 0329 P 0 0460 MOOG MSD Servo Drive User Manual SERCOS II Chapter 6 MOOG MSD Servo Drive User Manual SERCOS II 34 6 2 Flux Control In this operation mode the master specifies a speed setpoint S 0 0036 P 0 0458 P 0 0320 P 0 0329 P 0 0428 P 0 0321 P 0 0330 S 0 0037 P 0 0333 alternatively P 0 0325 S 0 0081 P 0 0331 P 0 3005 pan or P 0 0167 S 0 0100 P 0 0326 P 0 0332 P 0 3006 P 0 0371 S 0 0101 P 0 0327 P 0 0460 S 0 0036 Torque controlled motor GmFF s GnFF s S 0 0040 S 0 0156 Figure 6 2 Schematic diagram of torque control Number Description Unit Number Description Unit S 0 0036 Velocity setpoint VEL S 0 0101 PI speed drive integral action time ms P 0 3005 Maximum positive acceleration ACC P 0 032
4. MOOC MSD Servo Drive User Manual Iil SERCOS interface MOOG User Manual SERCOS Il for MSD Servo Drive ID no CA65648 001 Rev 1 0 Date 11 2011 We reserve the right to make technical changes MSD Servo Drive User Manual SERCOS II 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 lat est version please refer to drives support moog com How to use this document Dear user This manual is intended for you as a project engineer commissioning engineer or programmer of drive and automation solutions on the SERCOS II fieldbus It is assumed that you are already familiar with this fieldbus on the basis of appropriate training and reading of the relevant literature We assume your drive is already in operation If it is not you should put it into operation as described in the MSD Servo Drive Operation Manual This manual applies to the MSD Servo Drive position drive system with the SERCOS Il option card The basis for implementing SERCOS in the MSD Servo Drive is the document titled Specification SERCOS Interface Version 2 4 issued in February 2005 for mo
5. Linear m min 1 6 0 001 mm min Table 7 8 Preferential weighting of translatory velocity data MSD Servo Drive User Manual SERCOS II 42 7 2 2 Weighting of rotary velocity data Rotary weighting is selected via S 0 0044 The significance of the LSB of the rotary velocity data is defined by the following equation Travel unit S 0 0045 e 1050 0046 LSB significance Time unit When rotary preferential weighting is selected the weighting as per the following table applies Weighting method Unit Weighting Weighting Preferential from S 0 0045 from S 0 0045 factor S 0 0045 exponent S 0 0046 weighting Rotary rpm 1 4 0 001 1 min Rotary 1 s 1 6 0 000 001 1 s Table 7 9 Preferential weighting of rotary position data Weighting method 000 No weighting 001 Translatory weighting 010 Rotary weighting Bit 3 Weighting method Preferential weighting Parameter weighting Bit 4 Distance unit Revolutions for rotary weighting Metres for translatory weighting Reserved for rotary weighting Inches for translatory weighting Bit 5 Time unit Minutes min Seconds s Bit 6 Data source On the motor shaft On the load side Bit 7 17 Reserved Table 7 10 Bit fields in the velocity data weighting method parameter S 0 0045 The following diagram shows the various velocity weighting options Weighting method velocity data S 0 0044
6. Rotary Nm 1 2 0 01 Nm Table 718 Preferential weighting of force data Bit 2 0 Weighting method 000 No weighting 001 Translatory weighting 010 Rotary weighting Bit 3 Weighting method Preferential weighting Parameter weighting Bit 4 Distance unit Nm for rotary weighting N for translatory weighting In Ibf for rotary weighting Ibf for translatory weighting Bit 5 Reserved Bit 6 Data source On the motor shaft On the load side Bit 7 17 Reserved Table 7 19 Bit fields in the torque force data weighting method parameter S 0 0086 The following diagram shows the various torque force weighting options MSD Servo Drive User Manual SERCOS II 46 Weighting method force torque S 0 0086 S 0 0086 bit O 2 Percentage Rotary s Tenabtory oco S 0 0086 bit 6 s 0 0086 Preferential Parameter Preferential Parameter bit 3 weighting weighting weighting weighting bit 4 LSB LSB PE LSB 1 0 N variable m variable S 0 0093 S 0 0093 S 0 0094 S 0 0094 Figure 7 4 Diagram of torque force weighting methods 7 4 4 Torque polarity IIn parameter S 0 0085 the polarities preceding signs of the specified torque data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and output A positive torque setpoint difference with non inverted polarity
7. A channel is handled bit by bit in segments in the MDT and in the DT and may extend mo NIE etl over several SERCOS cycles for each transferred element The following tables contain 220001 ESO IE NISI cere ier G2 E id the list of parameters implemented in the drive operational data 5 0 0022 _IDN list of invalid operation data for CP3 x x x NOTE The functional descriptions of the manufacturer specific parameters 2202002301 A e Na AEAEE where not given here are to be found in the MSD Servo Drive Operation 5 0 0025 A MDT X i Manual S 0 0025 DN list of all procedure commands x x x Do S 0 0026 Configuration list for signal status word S 0 0027 Configuration list for signal control word 1 0 1 SERCOS parameter list S 0 0028 MST error counter x x x S 0 0029 MDT error counter X X x Description Unit Write protection S 0 0030 Firmware version of device x x x CP2 CP3 CP4 S 0 0032 Primary operation mode x S 0 0001 Control unit cycle time t_Ncyc us x x 5 0 0033 Secondary operation mode 1 X S 0 0002 Communication cycle time t Scyc us x x 5 0 0034 Secondary operation mode 2 S 0 0003 Shortest AT transmission starting time t1min us x x x 5 0 0035 Secondary operation mode 3 X S 0 0004 Transmit receive transition time tATMT us x x x 5 0 0036 Velocity command value SPEED S 0 0005 Minimum feedback processing time t5 us x x x 5 0 0037 Additive velocity command value SPEED S 0 0006 AT transmission starting time t1 us x X 5 0 0038 Positiv
8. 0 4095 S SERCOS profile specific parameter bit 15 0 15 Terms da y P SERCOS manufacturer specific parameter bit 15 1 E x Record number 0 7 bits 14 12 Term Explanation f yyy Data block number 0 4095 bits 11 0 SERCOS Standardized method of real time communication between master control systems and drives to DIN EN 61491 f z 7 Note Only record 0 is supported in the drive OF Optical fibre MST Master Sync Telegram Provides is precise data synchronization of the drives in the fibre optic loop by the time slot method Table 1 2 Terms MDT Master Data Telegram Data from master to the drives in the fibre optic loop control word setpoints DT Drive Telegram Data from drive to master status actual values Phase 0 4 SERCOS communication phases 0 Fibre optic loop closed by master reception from MST 1 Master identifies all slaves drives in the loop 2 Parameter setting mode as from phase 2 the service channel is in operation 3 Time slots are maintained cyclic data still invalid 4 Cyclic operation mode import of setpoints transmission of actual values Table 1 2 Terms MOOG MSD Servo Drive User Manual SERCOS II 9 Chapter 1 MOOG MSD Servo Drive User Manual SERCOS II om 2 Commissioning of the SERCOS interface 21 Connections and controls hardware variant 1 The connections and controls of the SERCOS interface hardware variant 1
9. Communication phase 1 3 3 Communication phase 2 Communication phase 2 signifies that the drive is in parameter setting mode IIn this mode you can write to many parameters which are no longer editable in communica tion phase 4 operation mode In communication phase 2 the communication param eters are usually transferred from the master to the drive All parameters influencing the switching frequency or the sampling times of the loop control system can likewise be written only in communication phase 2 During communication phase 2 the green LED H5 on the drive unit cyclically displays the flash code set out in the following table To enter communication phase 2 the master specifies Communication phase 2 in the Master Sync Telegram Before the system can switch to communication phase 3 command S 0 0127 Prepare switch to communication phase 3 must be executed During this preparatory phase the drive checks criteria including the validity of the parameters required for communica tion phase 3 When the prepare to switch command has been successfully executed the drive is switched to communication phase 3 by the master In the event of a fault plausibility of the setting concerned the switch to communication phase 3 is refused with a relevant fault message NOTE On switching to phase 3 the servo drive performs all the necessary ini tializations If it is not possible to switch to phase 3 because of faulty parameter setting the drive
10. It contains the master control word the service channel parameter channel and a configurable data block This data block usually contains setpoints and limit values which the master control system wants to send to the drive to run the desired operation mode The content of this data block can be configured by the telegram setting The master data telegram is received simultaneously by all the drives in the loop Likewise once per SERCOS cycle each drive sends a separate drive telegram to the master control It con tains the drive status word extracts from the service channel and a configurable data block This data block usually contains actual and status values which the master control System needs to run the desired operation mode Figure 4 1 SERCOS cycle timing diagram MSD Servo Drive User Manual SERCOS II 17 MOOG 4 3 Master control word The master control word is part of the master data telegram It contains all the key con trol information for the drive The master control word is mapped in parameter S 0 0134 The precise structure of this parameter is shown in the following table The master control word is transferred cyclically to the drive with each master data telegram in the SERCOS cycle see SERCOS cycle time For diagnostic purposes the master control word can be read via param eter S 0 0134 Master control word MSD Servo Drive User Manual SERCOS II 18
11. P 0 0522 ENC Channel selection for position control x x P 0 0523 ENC Channel selection for master input x x P 0 0530 ENC Channel selection as SERCOS encoder 1 x x P 0 0531 ENC Channel selection as SERCOS encoder 2 x x P 0 0540 ENC CH1 Absolute position interface selection x X P 0 0541 ENC CH1 Index pulse signal test mode X x P 0 0542 ENC CH1 Number of lines SinCos TTL encoders x x P 0 0543 ENC CH1 Number of MultiTurn bits SSI absolute X xX Table 10 1 List of supported SERCOS parameters MSD Servo Drive User Manual SERCOS II 61 Chapter 10 MOOG MSD Servo Drive User Manual SERCOS II 62 Write protection Write protection Description Unit Description CP2 CP3 CP4 CP2 CP3 CP4 P 0 0544 ENC CH1 Number of SingleTurn bits SSI absolute x x P 0 0610 ENC CH1 Nominal increment of reference marks Signal x Di P 0 0545 ENC CH1 Code selection SSI absolute position interface X z per P 0 0546 ENC CH1 Mode selection SSI absolute position interface x x P 0 0630 ENC CH3 Nominal increment of reference marks Signal x x P 0 0547 ENC CH1 Lowest allowable MultiTurn position x AR per SSI absolute P 0 0742 monitoring maximum position difference POS P 0 0548 ENC CH1 Enable MultiTurn information SSI absolute x x P 0 0744 m
12. P 0 3003 IDN list of all data with real time control support x x x P 0 3004 Maximum transmission power P 0 3005 Speed acceleration ACC P 0 3006 Speed deceleration ACC P 0 3007 Actual value of I2t integrator for motor protection x x x P 0 3030 Drive controlled homing offset procedure command P 0 3031 Homing velocity in search of index pulse SPEED P 0 3054 Gain external feed forward signals X xX P 0 3055 External speed feed forward signal Pscale 2 16 P 0 3056 External acceleration feed forward signal Pscale 2 16 P 0 3100 Expanded position command value for Pico Interpolation Table 10 1 List of supported SERCOS parameters MOOG MSD Servo Drive User Manual SERCOS II Chapter 10 MOOG MSD Servo Drive User Manual SERCOS II 64 Index A oO MI EE OL S 9 Acceleration data eene 44 Acceleration weighting methods 45 B aprpe E 40 44 46 Bit fields in the velocity data weighting method parameter S 0 0045 42 C Checking fibre optic cables 13 Coding OF operationdnodes sisarustaan 31 COMMISSION IN 2a tht tile fe sane EE TEE E cda ditada Hi Ana a 11 Communication module acces 8 Communication phases eee 15 Configuration parameter aint deanna nvin ovg ced cicius 25 Connection of fibre optic cables 12 CONNCCHONS ira aan anna aaja bn pes SEDA E ate ea 11 mone ET 19 ED enable 19 aon CO R P HP 11 Controls and displays ansia 11 Cyclic data transfer sites 17 D D
13. S 0 0044 bit 0 2 Translatory S 0 0044 bit 6 Load or moto s 0 0044 Preferential Parameter Preferential Parameter bit 3 weighting weighting weighting weighting pe mE TT a LSB LSB 4 LSB LSB mimin variable ri o variable S 0 0045 S 0 0045 S 0 0046 S 0 0046 Figure 7 2 Diagram of velocity weighting methods MOOG 7 2 3 Velocity polarity In parameter S 0 0043 the polarities preceding signs of the specified velocity data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and output A positive velocity setpoint difference with non inverted polarity means the direction of rotation is clockwise look ing at the motor shaft Bit O Velocity setpoint Not inverted Inverted Bit 1 Additive velocity setpoint Not inverted Inverted Bit 2 Actual velocity 1 Not inverted Inverted Bit 3 Actual velocity 2 Not inverted Inverted Bit 4 15 Reserved Table 7 11 Setting of velocity polarity via parameter S 0 0043 MSD Servo Drive User Manual SERCOS II 43 Chapter 7 MOOG 73 Weighting of acceleration data The acceleration weighting is defined by the parameters listed in table 7 12 All accelera tion data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0160
14. e Drive not in fault state e Settings of relevant parameters P 0 0144 P 0 0159 and P 0 0165 Under these preconditions the drive shows device state 3 on the display The drive is activated by the change of state from 0 to 1 of bit 15 drive enable in the MDT If the enable is successfully executed the display readout changes to 5 and the relevant bits in the drive telegram DT are operated The readiness of the control drive follows setpoints is mapped in the status word via bit 15 bit 14 and bit 3 Ideally the master control system reads the actual value while control is starting and presets it as the setpoint until the closed loop drive signals readiness in the status word If the drive moves while control is starting such as due to motor commutation finding by linear drives whereby the drive does not yet signal readiness drive state 4 the position changes are automatically adopted by the master control system Control systems which retrieve the current actual position only once prior to start of closed loop control and preset it as the setpoint and also do not update it even after commutation finding no evaluation of status word will feed forward a setpoint differ ence Shut off due to tracking error may be the consequence To avoid this the drive can be moved to the position specified by the master control system at start of control under drive control with parameter P 0 0156 Enable operation option code set
15. is assigned an IDN As a result Measured value 1 recorded negative can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the negative edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 negatively S 0 0131 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 1 enable is set to 0 In the operation datum only bit O is defined For more information see S 0 0179 S 0 0411 MEASURED VALUE 2 RECORDED POSITIVE With this parameter Measured value 2 recorded positive is assigned an IDN As a result Measured value 2 recorded positive can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 enable signal S 0 0406 is set to 1 and the positive edge of touchprobe 2 S 0 0402 is signalled At the same time the drive stores the actual position value to measured value 2 positively S 0 0132 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to 0 In the operation datum only bit O is defined Table 9 1 Description of parameters f
16. 0 0336 Bit 7 P gt Px see S 0 0337 Bit 8 Actual position value active target position S 0 0430 S 0 0951 S 0 0053 lt S 0 0057 see S 0 0338 Bit 9 n feedback lt Minimum spindle speed see S 0 0339 Bit 10 n feedback Maximum spindle speed see S 0 0340 Bit 11 Preliminary position reached see S 0 0341 S 0 0261 Bit 12 Position setpoint target position see S 0 0342 Bit 13 Positioning interrupted see S 0 0343 Bit 14 reserved Bit 15 Manufacturer specific status message set see S 0 0182 Bit 0 Status not active Bit 1 Status active Table 5 3 Structure of parameter S 0 0013 state class 3 5 4 Interface faults and diagnostic options If states are identified in the drive which no longer permit correct operation of the inter face or if faulty inputs are detected during the initialization phase the drive responds by falling back to communication phase 0 No more drive telegrams are sent the drive autonomously executes the programmed fault reaction and waits for re initialization of the SERCOS loop by the master 5 4 1 Diagnosis of interface status To diagnose interface fault and identify the current communication phase parameter S 0 0014 Interface status is used If a fault is set in the interface status the communication fault in C1D S 0 0011 is reset Setting bits 2 0 causes no fault If there is no communication fault the interface status in bits 0 2
17. 0 0555 and overlaid on the speed setpoint generated by the servo drive The acceleration pre control signal is converted via the mass moment of inertia of the drive set in parameter P 0 0314 into a torque pre control signal which is overlaid on the torque setpoint generated by the speed drive S 0 0348 alternatively P 0 0554 EDAM 0 alternative S 0 0047 io S 0 0378 UN NrefFF Interpolation S 0 0104 P 0 0414 alternatively S 0 0360 GnFF s S 0 0051 S 0 0053 Figure 6 4 Schematic diagram of position control without tracking error with internal pre control signals MOOG S 0 0376 P 0 0378 P 0 1516 P 0 0458 P 0 0328 P 0 0333 P 0 0334 P 0 0371 P 0 0167 P 0 0320 P 0 0321 alternatively S 0 0322 P 0 0325 S 0 0100 S 0 0101 Chapter 6 GmFF s S 0 0040 S 0 0156 P 0 0326 P 0 0327 P 0 0329 P 0 0330 S 0 0081 P 0 0331 P 0 0332 P 0 0460 MSD Servo Drive User Manual SERCOS II Torque controlled motor MOOG MSD Servo Drive User Manual SERCOS II 38 6 5 External generation of pre control signals lin this operation mode the master cyclically dictates position setpoints and pre control signals for speed and acceleration The drive performs a fine interpolation for the posi tion setpoints and the pre control signals The scaled pre control signals are de scaled via parameters P 0 1507 rotation speed and P 0 1508 acceleration Further influenc
18. 0410 Probe 1 negativ latched x x x S 0 0411 Probe 2 positive latched x x x S 0 0412 Probe 2 negativ latched x x x S 0 0413 Bit number allocation of real time control bit 1 S 0 0414 Bit number allocation of real time control bit 2 S 0 0415 Bit number allocation of real time status bit 1 S 0 0416 Bit number allocation of real time status bit 2 S 0 0417 Positioning velocity threshold in modulo mode SPEED S 0 0418 Target position window in modulo mode POS S 0 0419 Positioning acknowledge POS x x x S 0 0430 Active target position POS X x x P 0 0001 Id of device familiy series x x x P 0 0002 Device name product name X x x P 0 0003 Application specific device name alias x X P 0 0004 Total software version of device plain text X K X P 0 0005 Device family name x x x P 0 0006 Total version number of device software X x x P 0 0008 Vendor name x x x P 0 0030 Programmable reaction in case of failure P 0 0034 Device warnings status word x x x P 0 0039 Device Error ID low word and Error Location high word X x X P 0 0040 Reset firmware x x Table 10 1 List of supported SERCOS parameters Write protection Write protection Description Unit Description Unit CP2 CP3 CP4 CP2 CP3 CP4 P 0 0041 Reset firmware and activate loader X x P 0 0141 Control value of dig output
19. 17 A TN 45 Percentage Welgltlfig asistentes teste uiti ted opted itm ameta ec sued 4 latere AOS MPH ERRO NRO ERROR RES RR ERR 35 POSO CONN esris ected em 37 Position control without tracking error 41 Position Polar EET 19 Position tracking error nee nennen 17 Power stage enable nennen 38 Pre control signals nennen 45 Preferential weighting of force data 39 MSD Servo Drive User Manual SERCOS II Preferential weighting of rotary position data 44 Preferential weighting of translatory acceleration data 39 Preferential weighting of translatory position data 42 R Read the Operation Manual first sssssssssssssssee 7 Real time Control DIES oss ductores etr enc ass 23 Real time status Dila sercos rte tpe intra caesa eode des pd eres rae Pepe daa 23 Reference cam limit switches 50 Reference distance 1 2 ice esie Esset a rer Six ra sea RA TR ap dta 49 Reference distance offset 1 2 49 S o 7 Satety INSTUCUON Sra rca ede e dci 7 A ie pattes enge c agat ud iet 44 45 Scaling parameters for position weighting 39 41 Schematic GA Gan usares ene dec ttp tete iodo 15 SERCOS communication phases ees 49 SERCOS cycle timing diagram naudai ea 55 SERCOS parameter list cic ssi eei reta acia 43 Setting of SERCOS encoders 1 2 eiiiai iain 25 Setting the position polarity ises a otani aa 28 Setting the velocity polarity cente nter ite tec
20. 2 2 Controls and displays of the SERCOS interface hardware variant 2 MSD Servo Drive User Manual SERCOS II 11 MOOG 2 3 Connection of fibre optic cables The connection between the master control and the servo drives is made by fibre optic cables This requires a loop architecture to be constructed as illustrated in the following diagram for three drive axes Figure 2 3 Connection of fibre optic cables The fibre optic loop starts and ends at the SERCOS master control The optical output of the master is connected to the optical input of the first drive X31 Its optical output X30 is connected to the input of the next drive and so on The output of the last drive is connected to the optical input of the master The SERCOS slave addresses are assigned independently of their positions in the loop MSD Servo Drive User Manual SERCOS II 12 2 4 Hardware settings 2 41 Setting the transmission power of the SERCOS interface By way of parameter P 0 3004 the transmission power of the fibre optic transmitter can be set Entering a O corresponds to the lowest power and a 3 the highest The following values are intended as a guide 0 lt 15 m 1 15 30m 2 30 45m 3 gt 45 or HCS 0 15 m 1 15 30m 2 30 45 m 3 gt 45 or HCS 2 4 2 Setting the drive address via parameter The drive address is set in parameter P 0 3000 Drive address EA drive address setting or change made in this parameter only takes ef
21. S 0 0150 S 0 0151 describes the distance between the reference mark of the position encoder and the reference point The two parameters relate to SERCOS encoders 1 and 2 respectively MSD Servo Drive User Manual SERCOS II 49 Chapter 8 MOOG MSD Servo Drive User Manual SERCOS II 50 8 8 Reference cam limit switches e P 0 0126 Function selector RELOUT1 i e P 0 0142 Inversion of digital outputs The signal of the reference cam can be optionally linked to one of the digital inputs In puts ISDOO ISDO6 are available Depending on the method the limit switches can also be optionally used for homing 8 8 1 Function selector digital inputs and outputs The inputs and outputs of the drive can be assigned various functions by way of so called function selectors The inputs can also be filtered against bounce or inverted For more information on the digital and analog lOs please refer to the Application Manual section 4 e P 0 0100 Function selector ENPO e P 0 0101 Function selector ISDOO e P 0 0102 Function selector ISDO1 e P 0 0103 Function selector ISDO2 e P 0 0104 Function selector ISDO3 e P 0 0105 Function selector ISDO4 e P 0 0106 Function selector ISDO5 e P 0 0107 Function selector ISDO6 e P 0 0108 Function selector ISDSH e P 0 0109 Function selector ISAOO e P 0 0110 Function selector ISA01 e P 0 0118 Filter for digital inputs e P 0 0120 Inversion of digital inputs e P 0 0122 Function selector OSDOO e P 0 0123 Function
22. S 0 0208 Temperature data scaling type S 0 0143 Sercos version x x x S 0 0216 Switch parameter set procedure command X x S 0 0144 Signal status word x x x S 0 0217 Parameter set preselection x x S 0 0145 Signal control word S 0 0222 Spindle positioning speed SPEED S 0 0147 Homing paramater for defining the homing procedure x S 0 0256 Multiplication factor motor feedback encoder 1 X x x sequence S 0 0257 Multiplication factor external feedback encoder 2 x x x S 0 0148 Drive controlled homing procedure command 5 0 0258 Target position POS S 0 0150 Distance between the reference marker pulse of position FB1 POS S 0 0259 Positioning velocity SPEED S 0 0151 Distance between the reference marker pulse of position FB2 POS 0 0260 Positioning acceleration ACC S 0 0152 Position spindle procedure command 5 0 0261 Coarse position window x x SOU Spindle angle position POE S 0 0262 Load defaults procedure command x X 5 0 0154 Spindle positioning parameter 2 S 0 0263 Load working memory procedure command x x SONE Mo LO Spa A Y d S 0 0264 Backup working memory procedure command 3 0 0157 Velocity window SPEED S 0 0274 Received drive addresses x x x S 0 0159 monitoring position difference threshold POS 0 0277 Position feedback 2 type a S 0 0160 Acceleration data scaling type x x 5 0 0278 Maximum travel range x E x SOG Acceleraionidatalscalingjiacton x A S 0 0282 Drive based position command value POS S 0 0162 Acceleration data scaling exponent x x 5 0 0292 List o
23. Setting the drive address via parameter 12 2 4 3 Transfer rate of SERCOS interface sessssssssssseeeeeeeeenem ne 12 Diagnostic EDS ace EE 13 2 51 Useotthe distortion LED cmo 13 252 Checking fibre optic cables naii n en OE 13 SERCOS communication PA SES oa 15 remettre ueniet 15 Communicationiphasel EE 15 terejecTutPieliez e ntlo ue iE 15 Communication phase Scion 16 Communication phase Aeriene aerae eaa AEAEE E AE AREE EEEE 16 MOOG 4 4 1 4 2 4 3 4 4 4 5 4 6 4 7 5 1 5 2 5 3 5 4 6 1 6 2 6 3 6 4 Parameter Intel Tabu iet dd 17 Profile parameters S O XXxx mii caves sa ke ren ae E 17 41 1 Manufacturer specific parameters P 0 xxxx ssssssssssee 17 Cyclic data tratisfet os ra tte area 17 Master control Word sorte ret alta 18 43 1 Descriptionrof bits 13 litio iaa 19 Drive Status WOES aas een ri b Feet aes etes pente erdt Pectus ep M bue aes 20 Drive state Machito 22 Real time control bits and real time status bits 23 Signal control and statis Words sion co Fei ose ten err du EIER dE du 24 4 41 Signal control word S 0 0145 ase eec ce 24 Fault warning and status messages sssssssssss 27 Faults MESSAGES certi eeu t etr en vec Was euet te pessum Mugen e URGE aca EUR 27 A ssec ater E LESE 28 o E A 28 Interface faults and diagnostic options 29 5 4 1 Diagnosis of interface status 29 5 4 2 Fault counter for telegram failures 29 Operation
24. are shown schematically in figure 1 LEDs H4 and H5 are status indicators H4 signals a distortion distortion LED meaning the fibre optic power is defective or there is a break in the loop H5 indicates the current communication phase 0 4 H6 and H7 signal RX TX communication The fibre optic cables are connected to connectors X17 transmitter and X18 receiver The drive address is programmed by way of the corresponding pa rameter using the service tool Drive address programming using pushbuttons and a display is in preparation H4 H5 H6 Hr X17 TXD X18 RXD Figure 2 1 Controls and displays of the SERCOS interface hardware variant 1 MOOG Chapter 2 2 2 Connections and controls hardware variant 2 The connections and controls of the SERCOS interface hardware variant 2 are shown schematically in figure 2 LEDs H4 and H5 are status indicators H4 signals a distortion distortion LED meaning the fibre optic power is defective or there is a break in the loop H5 indicates the current communication phase 0 4 The fibre optic cables are connected to connectors X30 transmitter and X31 receiver In hardware variant 2 the connectors are of an angled design to reduce the overall depth of the drive The drive address is programmed by way of the corresponding parameters using the service tool Drive address programming using pushbuttons and a display is in preparation H4 H5 X30 TXD X31 RXD Figure
25. at digital input ENPO X4 10 with a High signal required at the digital input ISDSH X4 22 at the time the edge occurs must be fulfilled by the higher level control system according to Application Manual state 1 2 Not Ready to Switch On or 2 Switch On Disabled In the STO state the status indicator flashes S1 or S2 as appropriate P NOTE If the ENPO and ISDSH inputs are not configured the device remains in P Only after correct configuration of ENPO X4 10 and ISDSH X4 22 can the hardware be enabled by bit 14 in the SERCOS control word MDT Master Data Telegram It is only possible to enable the drive via bit 14 in communication phase 4 Bit 15 Control ON OFF drive enable Control of the drive via the SERCOS interface requires just a few parameter settings Open loop control setting of drive via SERCOS interface Set P 0 0159 to SERCOS 6 e Setpoints via SERCOS profile Set P 0 0165 to SERCOS 8 e Evaluation of bit 15 in MDT state controlled 1 2 LEVEL or edge controlled 0 EDGE via P 0 0144 Note If bit 14 and bit 15 in the MDT are set simultaneously P 0 0144 must be set to LEVEL 1 MOOG Chapter 4 In summary For the drive enable signal bit 15 to be accepted that is for the drive to switch from the unpowered to the powered state the following conditions must be met e SERCOS interface ready and in communication phase 4 e Enable power pack via hardware ENPO and ISDSH and bit 14 in MDT
26. contains the current communication phase If there is a communication fault the fault and the communication phase are saved The communication fault is only cleared by the drive and reset to 0 when there are no more interface faults occurring and the Reset state class 1 command S 0 099 has been received by the drive over the service channel Bit Explanation Bit 0 2 Communication phase Bit 3 MST failure Bit4 MDT failure Bit 5 Invalid communication phase phase gt 4 Bit 6 Fault in phase sequencing invalid sequence Bit 7 Fault in phase fallback not to phase 0 Bit 8 Phase change without ready message Bit 9 Change to non initialized operation mode Bit 10 Drive with same address in loop Bit 11 15 Reserved Table 5 4 Coding of parameter S 0 0014 interface status MOOG Chapter 5 5 4 2 Fault counter for telegram failures In the drive each received master sync and master data telegram is monitored for con formance to the correct reception time to the agreed telegram length and to the correct CRC checksum Failure of a telegram is registered by incrementing a fault counter The two parameters S 0 0028 MST fault counter and S 0 0029 MDT fault counter exist for the purpose The content of parameter S 0 0028 is cleared on the transition from communication phase 2 to 3 the content of parameter S 0 0029 is cleared on the transition from phase 3 to 4 MSD Servo Drive User Manual
27. factor P 0 0333 Motor speed scaling of negative limit Table 10 1 List of supported SERCOS parameters Description Unit CP2 CP3 CP4 P 0 0334 Motor speed scaling of positive limit 96 P 0 0335 Direction lock for speed reference value P 0 0336 Adaptation of speed control gain zero speed x x P 0 0337 Motor speed scaling P 0 0340 magnetization current r m s A P 0 0341 speed where field weakening starts forces 1 n character P 0 0342 speed values for mag current scaling P 0 0343 mag current scaling vs speed P 0 0344 voltage control filter time constant ms P 0 0345 voltage control gain AN P 0 0346 voltage control integration time constant ms P 0 0347 voltage control reference scaling of max voltage P 0 0348 slip control gain for field weakening P 0 0349 comutation offset of resp encoder deg P 0 0350 Selection of speed calculation method P 0 0351 actual speed calculation filter time ms P 0 0352 observer parameter meaning depends on CON_SCALC P 0 0353 Observer design parameters ms P 0 0354 observer design assistant P 0 0360 position control gain 1 min P 0 0370 Interpolation type control word P 0 0371 Speed reference filter time for speed control mode ms P 0 0372 Speed feedforward filter time for position control ms P 0 0374 Position delay in position control cycles CON PConTS ms P 0 0375 Speed feedforward scaling factor 96 P 0 0376 Torque Force feedforward scaling factor 96 P 0 0377 Feedforward signals ena
28. generates a relevant fault message The meanings of the fault numbers are listed in the MSD Servo Drive Application Manual MSD Servo Drive User Manual SERCOS II 15 MOOG MSD Servo Drive User Manual SERCOS II 16 The parameter listing in section 10 1 sets out the parameters that can be LED H5 flash code Status written in the various phases LED H5 flash code Status Indication of commu nication phase 4 Table 3 5 Flash code Communication phase 4 Indication of communication phase 2 EE Table 3 3 Flash code Communication phase 2 3 4 Communication phase 3 Communication phase 3 signifies that the drive is in restricted parameter setting mode In this mode as in parameter setting mode phase 2 you can write to many param eters which are no longer editable in communication phase 4 operation mode No communication parameters can be written in phase 3 During communication phase 3 the green LED H5 on the drive unit cyclically displays the flash code set out in the follow ing table LED H5 flash code Status Indication of communication phase 3 Table 3 4 Flash code Communication phase 3 3 5 Communication phase 4 Before the system can switch to communication phase 4 command S 0 0128 Prepare switch to communication phase 4 must be executed During this preparatory phase the drive checks criteria including the validity of the parameters required for communica tion phase 4 When the prepare to
29. master are being ignored i Fault reaction active Fault reaction active setpoints from the SERCOS master are being ignored 8 Fault Drive in fault state setpoints from SERCOS master being ignored drive torque free Table 4 4 Description of system state transitions System state Designation Description transition 0 START Initialization after boot up complete 1 UZK OK DC link voltage greater than switch on threshold 2 ENABLE VOLTAGE Communication phase 4 active bit 15 in SERCOS control word 1 3 ENABLE OPERATION Communication phase 4 active bit 15 in SERCOS control word 1 4 DISABLE OPERATION Communication phase 4 active input ENPO 0 and or bit 14 in SERCOS control word 0 Table 4 5 Description of system state transitions Chapter 4 System state Designation Description transition 5 DISABLE VOLTAGE Communication phase 4 active input ENPO 0 and or bit 14 in SERCOS control word 0 6 UZK OFF DC link voltage less than switch off threshold 7 Fault Fault event occurred can occur in any system state 8 FAULT REACTION ACTIVE The response configured for the fault is active e g fault stop ramp 9 FAULT RESET Fault reset by command S 0 0099 Table 4 5 Description of system state transitions 4 6 Real time control bits and real time status bits There are two configurable real time bits in the MDT and the DT respectively For configuration of these binary signals the followi
30. means the direction of rotation is clockwise look ing at the motor shaft Bit O Torque reference Not inverted Inverted Bit 1 Additive torque setpoint Not inverted Inverted Table 720 Setting of velocity polarity via parameter S 0 0043 Actual torque Bit 3 15 Table 7 20 Setting of velocity polarity via parameter S 0 0043 MOOG MSD Servo Drive User Manual SERCOS II Chapter 7 MOOG MSD Servo Drive User Manual SERCOS II 48 8 Homing 8 1 Drive controlled homing command To create the distance reference when using relative encoder systems command S 0 0148 Drive controlled homing must be used As soon as this command has been set and enabled by the master the drive moves in position control mode with an internal profile generator taking into account S 0 0041 Homing velocity 1 Move and wait for reference cam and P 0 3031 Homing velocity 2 Find zero point in zero approach run as well as S 0 0042 Homing acceleration according to the strategy defined in P 0 2261 Homing method The status Encoder system home in parameter S 0 0403 Actual position status is cleared when homing starts if previously set and is reset once homing has completed successfully For more information on homing and the available methods please refer to the MSD Servo Drive Application Manual 8 2 Setting of SERCOS encoders 1 2 The MSD Servo Drive features a maxim
31. of digital input ISDO6 x x POO Motion profile jogging speeds P 0 0108 Function of digital input ISDSH x x P 0 0213 Motor brake lift time ms P 0 0109 Function of analog input ISAOO x x P 0 0214 Motor brake close time ms P 0 0110 Function of analog input ISAO1 a x P 0 0215 Motor brake torque rise time ms P 0 0118 Digital inputs Filter time ES x E P 0 0216 Motor brake torque fade time ms P 0 0120 Input inversion ENPO O ISDOO 05 1 6 SH 7 ISDO6 16 x x e o P 0 0121 States of digital inputs x x x P 0 0218 Motor brake constant initial torque Nm P 0 0122 Function of digital output OSDOO x P 0 0219 Motor brake torque sampled at last closing time Nm x x x P 0 0123 Function of digital output OSDO1 x x P 0 0220 lock brake P 0 0124 Function of digital output OSDO2 x 7 P 0 0239 Functional states of digital inputs x x x P 0 0125 Function of motor break X13 x x P 0 0283 feet de Type selection DiA 402 0 SERCOS 1 x x P 0 0126 Function of digital output RELOUT1 x x E TE E P 0 0127 Function of dig output RELOUT2 is fixed on Safety Hold x x x P0 0287 aa E 7 Tape DT AREA BRONCO SERCOS parameters Table 10 1 List of supported SERCOS parameters MOOG MSD Servo Drive User Manual SERCOS II 59 Chapter 10 MOOG Write protection MSD Servo Drive User Manual SERCOS II 60 Write protection
32. other channel 2 5 2 Checking fibre optic cables If the specified transfer rate is supported and the transmission power is correctly set but still no communication takes place the fibre optic cable may be defective In this case the distortion LED will light The cause of a defect in a fibre optic cable may be mechani cal damage or poor assembly bad connector fitting or the like Defective fibre optic cables must be replaced NOTE Fibre optic transmission is sensitive to dirt contamination Make sure no dirt particles can penetrate the transmitter or receiver elements This may lead to transmission power and distortion problems which are difficult to localize Protect the elements during installation using the supplied sheaths until the fibre optic cables have been assembled MSD Servo Drive User Manual SERCOS II 5 MSD Servo Drive User Manual SERCOS II MOOG aa 3 SERCOS communication phases Communication over the SERCOS bus between the master and slaves is divided into five phases Communication phases O and 1 identify the stations on the bus In com munication phase 2 the time and data structure of the protocols for phases 3 and 4 are prepared and the drive is configured At the transition to communication phase 3 the drive parameter settings relating to the SERCOS profile are checked for plausibility In the event of a fault the switch to communication phase 3 is refused with a relevant fault message The phases are run th
33. 2 PI speed drive gain scaling factor 96 P 0 3006 Maximum negative acceleration ACC P 0 0325 Digital filter S 0 0037 Additive velocity setpoint VEL P 0 0326 Digital filter P 0 0371 Speed setpoint filter time constant ms P 0 0327 Digital filter P 0 0458 Motor nominal speed 1 min P 0 0329 Absolute torque limit reference variable motor nominal torque 96 P 0 0328 Speed limit reference variable motor nominal speed 96 P 0 0330 Negative torque limit reference variable motor nominal torque 96 P 0 0333 Negative speed limit reference variable motor nominal speed 96 P 0 0331 Positive torque limit reference variable motor nominal torque 96 P 0 0334 Positive speed limit reference variable motor nominal speed 96 P 0 0332 Online torque limit reference variable motor nominal torque 96 P 0 0167 Velocity override 96 P 0 0460 Motor nominal torque Nm P 0 0320 PI speed drive gain Nm min P 0 0351 Actual speed filter time ms P 0 0321 PI speed drive integral action time ms S 0 0040 Actual speed 1 VEL Alternatively S 0 0156 Actual speed 2 VEL S 0 0100 Pl speed drive gain Nm min Table 6 4 Speed control parameter Table 6 4 Speed control parameter 6 3 Position control with drive controlled position profile generation In this operation mode the target position specified in S 0 0258 is approached in time optimized mode adhering to the maximum positioning velocity S 0 0259 and maximum positioning acceleration S 0 0260 In drive controlled posit
34. 56 Motor rated voltage V x x P 0 0457 Motor rated current A x x P 0 0458 Motor rated speed rpm x x P 0 0459 Motor rated power kw X x P 0 0460 Motor rated torque Nm x x P 0 0461 Motor inertia kg m m x x P 0 0462 Motor rated flux Vs x x P 0 0463 Motor number of pole pairs X x Table 10 1 List of supported SERCOS parameters MOOG Description CP2 CP3 CP4 P 0 0470 Motor stator resistance Ohm x x P 0 0471 Motor stray stator inductance mH x x P 0 0472 Q stator inductance variation in of MOT Lsig 96 x x P 0 0473 Main inductancs vs Isd 0 1 Index LmagldMax mH x X P 0 0474 LmagTable max magnetization current eff A x x P 0 0475 Motor main inductance scaling factor x X P 0 0476 Motor rotor resistance Ohm x x P 0 0477 Motor rotor resistance scaling factor x X P 0 0500 ENC CH1 Actual value SingleTurn 0 MultiTurn 1 x x x P 0 0501 ENC CH2 Actual value SingleTurn 0 MultiTurn 1 X x x P 0 0502 ENC CH3 Actual value SingleTurn 0 MultiTurn 1 x x x P 0 0505 ENC CH1 Encoder type selection x x P 0 0506 ENC CH2 Encoder type selection x x P 0 0507 ENC CH3 Encoder type selection x x P 0 0510 ENC CH1 Gear nominator x x P 0 0511 ENC CH1 Gear denominator x x P 0 0512 ENC CH2 Gear nominator x x P 0 0513 ENC CH2 Gear denominator x x P 0 0514 ENC CH3 Gear nominator x x P 0 0515 ENC CH3 Gear denominator x x P 0 0520 ENC Channel selection for motor commutation x x P 0 0521 ENC Channel selection for speed control x x
35. ALUE 1 NEGATIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 1 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored S 0 0132 MEASURED VALUE 2 POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 2 S 0 0402 during the measurement cycle If there is no external encoder actual position value 1 is stored S 0 0133 MEASURED VALUE 2 NEGATIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the negative edge of touchprobe 2 S 0 0402 during the measurement cycle If there is no external encoder actual position value 1 is stored S 0 0405 TOUCHPROBE 1 ENABLE With this parameter the touchprobe 1 enable is assigned an IDN As a result the touchprobe 1 enable can be assigned to a real time control bit S 0 0301 The touchprobe 1 enable is only polled by the drive as long as the touchprobe cycle command S 0 0170 is active For a repeat measurement with the same edge of touchprobe 1 the master control system must set the touchprobe 1 enable to 0 and back to 1 In the operation datum only bit O is defined For more information see S 0 0179 S 0 0406 TOUCHPROBE 2 ENABLE With this parameter the touchprobe 2 enable is assigned a
36. D Servo Drive User Manual SERCOS II 25 MOOG MSD Servo Drive User Manual SERCOS II 25 5 Fault warning and status State class 1 C1D messages EEUU A fault situation of state class 1 in the drive leads to 1 Best possible shutdown and subsequent torque enable at speed n min 2 b The drive lockout bit bit 13 in the drive status is set to 1 The fault bit is only cleared by the drive and reset to 0 when there are no more faults of state class 1 occurring and the Reset state class 1 command 5 x 1 Fa u It m essay es S 0 0099 has been received by the drive over the service channel f The bits defined in C1D are additionally defined by the single parameters in The key fault messages of the drive are displayed in parameter S 0 0011 state class 1 brackets The fault messages in square brackets are defined in the SERCOS specification but are Structure of the C1D parameter not supported by the MSD Servo Drive Bit 0 Overload shut off S 0 0114 Bit 1 Amplifier overheating shut off S 0 0203 S 0 0011 Bit 2 Motor overheating shut off S 0 0204 Bit 3 Cooling fault shut off S 0 0205 Bit 4 control voltage fault Bit 5 Feedback fault encoder fault Bit 6 Fault in commutation system Bit 7 Overcurrent Bit 8 Overvoltage Bit 9 Undervoltage fault Bit 10 Phase fault in power supply Bit 11 Excessive control deviation S 0 0159 Bit 12 Communication fault S 0 0014 Bit 13 Position li
37. G LOCKOUT Power stage without power not enabled DC link voltage present READY FOR START Power stage without power enabled DC link voltage present ON ACTIVATE Power stage activate power stage motor commutation brake management Table 4 3 Mapping of bits 3 13 14 and 15 onto system state MSD Servo Drive User Manual SERCOS II 21 MOOG Bit 15 Bit 14 Bit 13 Bit 3 Display readout System state designation LOOP CONTROL ACTIVE In loop control support for bit 3 Drive following setpoints QUICK STOP ACTIVE e g triggered via terminal drive no longer following setpoints FAULT RESPONSE ACTIVE Drive no longer following setpoints FAULT FAULT Number and location alternately displayed motor torque free Table 4 3 Mapping of bits 3 13 14 and 15 onto system state MSD Servo Drive User Manual SERCOS II 22 4 5 Drive state machine The system states and the possible state transitions are shown in the following diagram and described in the following tables d am o EE N Drive halt Command execution System state 5b System state 5c Yee NC Start Command Command Bit 1321 start d Halt en Bit 1320 X N vp Active mode System state 5a N Fault response active System state 5 3 Enable operation 4 disable operation QUUD Enab Bit 15 0 N Bit 1521 Pu E 5 Disable Vol
38. POS S 0 0055 Position polarity parameter x x S 0 0057 position window for target reached status POS S 0 0076 Position data scaling type X x S 0 0077 Linear position data scaling factor x x S 0 0078 Linear position data scaling exponent x x S 0 0079 Rotational position resolution x x S 0 0080 Torque command value TORQUE S 0 0081 Additive torque command value TORQUE S 0 0082 Positive torque limit value TORQUE S 0 0083 Negative torque limit value TORQUE S 0 0084 Torque feedback value TORQUE x x x S 0 0085 Torque polarity parameter x x S 0 0086 Torque force data scaling type x x S 0 0087 Transmit to transmit recovery time TATAT us x X x S 0 0088 Receive to receive recovery time tMTSY us X X xX S 0 0089 MDT transmission starting time t2 us x x S 0 0090 Command value proceeding time tMTSG us X A 5 S 0 0091 Bipolar speed limit value SPEED S 0 0092 Bipolar torque limit value TORQUE S 0 0093 Torque force data scaling factor X x S 0 0094 Torque force data scaling exponent x x S 0 0095 Diagnostic message x x x S 0 0096 Slave arrangement SLKN x x x Table 10 1 List of supported SERCOS parameters Description CP2 CP3 CP4 S 0 0097 Mask class 2 diagnostic S 0 0098 Mask class 3 diagnostic S 0 0099 Reset class 1 diagnostic S 0 0100 Velocity loop proportional gain Nm min S 0 0101 Velocity loop integral action time ms S 0 0103 Modulo value POS x x S 0 0104 Position loop KV factor 1000 min S 0 0106 Current loop proportional ga
39. Position control with position encoder 2 e g external encoder drive con rolled profile generation no use of pre control signals Table 6 2 Chapter 6 Supported operation modes S 0 0296 MSD Servo Drive User Manual SERCOS II 31 MOOG Operation mode Description 0000 0000 0001 1011 Position control with position encoder 1 e g motor encoder drive controlled profile generation with use of pre control signals 0000 0000 0001 1100 Position control with position encoder 2 e g external encoder drive con trolled profile generation using pre control signals Table 6 2 Supported operation modes S 0 0296 Which of the three possible encoder interfaces of the MSD Servo Drive Channel 1 Chan nel 2 Channel 3 are designated as position encoder 1 and 2 respectively is specified by parameters P 0 0530 Selection of position encoder 1 and P 0 0531 Selection of posi tion encoder 2 The position encoder for position control specified by the operation mode must also be selected via parameter P 0 0522 as the position encoder for position control Otherwise a fault will be triggered in response to the drive enable and the switch from phase 2 to phase 3 For further details on encoder configuration please refer to the MSD Servo Drive Opera tion Manual A valid interpolation method P 0 0370 must be configured for the position controlled operation mode The following settings are possible 2 L
40. SERCOS II 29 MOOG MSD Servo Drive User Manual SERCOS II EEN 6 Operation modes The operation modes selectable in the master control word and displayed in the drive status word conforming to the SERCOS specification are coded according to the scheme set out in the following table Bit Explanation Bit 15 0 SERCOS standard mode 1 Manufacturer specific mode Bit 14 0 Cyclic setpoints for all modes 1 Setpoints via service channel Bits 13 10 reserved Bits 9 0 00 0000 0000 No mode defined 00 0000 0001 00 0000 0010 Torque control Flux Control XX XXXX x011 Position control with position encoder 1 motor encoder xx xxxx x100 Position control with position encoder 2 external encoder xx xxxx x101 Position control with position encoders 1 and 2 not supported 00 0000 0110 reserved 00 0000 0111 Uncontrolled mode Bit 3 0 1 Position control with tracking error 1 Position control without tracking error Bits 9 4 00 0000 Simple mode Ox 0001 Drive controlled interpolation 1x 0001 Drive controlled positioning xx 0010 reserved Table 6 1 Operation mode coding MOOG Bit Explanation 00 0011 reserved xx 0100 Synchronous mode not supported xx 1000 Electronic gearing not supported Bit 9 0 Loop control with absolute setpoint input Activation of positioning with IPOSYNC 1 Loop control with re
41. actual position ables 5 0 0409 Touchprobe 1 positive edge recorded Parameter Description S 0 0410 Touchprobe 1 negative edge recorded S 0 0405 Enable touchprobe 1 S 0 0411 Touchprobe 2 positive edge recorded S 0 0406 Enable touchprobe 2 1 S 0 0412 Touchprobe 2 negative edge recorded P 0 0141 Open loop control of digital outputs via COM option S 0 0419 Status of setpoint transfer Table 4 6 List of parameters configurable as real time control bits P 0 3003 Table 4 7 List of parameters configurable as real time status bits P 0 3002 Parameter Description S 0 0011 State class 1 device fault E OE 4 7 Signal control and status words S 0 0013 State class 3 device state messages S 0 0014 Status word Sercos interface 4 7 1 Si g nal control word S 0 0145 P 0 0121 Status of the digital inputs m In the signal control word S 0 0145 signals can be transferred from the master control P 0 0143 Status of the digital outputs nr y eR mem a system to the drive in real time The signal control word can be configured for cyclic 0 ignal status wor transfer in the master data telegram MDT The signal control word is configured in 320013 Terenie ea A stalls phase 2 and is activated at the transition to phase 3 A faulty configuration results in P 0 0239 Functional status of the digital inputs a device fault and a refusal to switch to phase 3 The configuration parameters for the S 0 0310 Warning threshold I2t motor exceeded signal cont
42. al status word S 0 0144 In signal status word S 0 0144 a user configurable drive status can be mapped The signal status word can be configured for cyclic transfer in the drive telegram DT The signal status word is configured in phase 2 and is activated at the transition to phase 3 A faulty configuration results in a device fault and a refusal to switch to phase 3 The configuration parameters for the signal status word are described in the following table S 0 0026 Configuration list signal control word S 0 0328 This list contains all the parameter numbers included in the signal status word The sequence of parameter numbers in the list determines the significance of the bits in the signal status word The first parameter number in the list defines bit O the last parameter number defines bit 15 Parameter S 0 0328 defines the bit number to be inserted into the signal status word from the relevant parameter Bit number assignment list signal status word In this configuration list the bit numbers of the parameters from S 0 0026 copied into the signal status word S 0 0144 are programmed The sequence of the bit numbers in the list corresponds to the sequence of the signals in the signal status word Table 4 9 Configuration parameters for the signal status word For configuration of the signal status word the list of configurable parameters of the real time status bit P 0 3002 applies MOOG Chapter 4 MS
43. ameter S 0 0135 Drive status word Bit Explanation Bits 15 14 Ready 00 Drive not ready to power up as internal checks have not yet completed suc cessfully 01 Drive ready to power up 10 Drive control unit ready and power supply on drive is torque free and power stage is disabled 10 Drive control unit ready and power supply on drive is torque free and power stage is disabled ta Drive ready Drive enable set and effective power stage active Bit 13 Drive lockout fault in C1D operation datum S 0 0011 0 No fault 1 Drive locked due to a fault situation Bit 12 Change bit of C2D operation datum S 0 0012 0 No change 1 Change Table 4 2 Drive status word parameter S 0 0135 Bit Explanation Bit 11 Change bit of C3D operation datum S 0 0013 0 No change 1 Change Bits 10 9 8 Current mode 000 Primary mode defined by operation datum S 0 0032 001 Secondary mode 1 defined by operation datum S 0 0033 010 Secondary mode 2 defined by operation datum S 0 0034 onm Secondary mode 3 defined by operation datum S 0 0035 100 Secondary mode 4 defined by operation datum S 0 0284 101 Secondary mode 5 defined by operation datum S 0 0285 110 Secondary mode 6 defined by operation datum S 0 0286 doof Secondary mode 7 defined by operation datum S 0 0287 Bit 7 Rea
44. arning x x x S 0 0328 Bit number allocation list for signal status word S 0 0329 Bit number allocation list for signal control word S 0 0330 Status n feedback n cmd x x x S 0 0331 Status n feedback O X 5 xX S 0 0332 Status n_feedback lt nx X x x S 0 0333 Status T gt Tx x x x S 0 0334 Status T gt Tlim x x x S 0 0335 Status n_cmd gt n_lim X X x S 0 0336 Status in position x x x S 0 0341 Status in course position x x x S 0 0346 Position control word S 0 0347 Velocity error SPEED x x x S 0 0348 Gain feed forward acceleration signal Yo S 0 0359 Positioning deceleration ACC S 0 0372 Drive halt acceleration bipolar ACC S 0 0373 Service channel error list x x x 5 0 0374 Procedure command error list x x x S 0 0375 Diagnostic numbers list x x x 5 0 0376 Baudrate MBit s x x x S 0 0380 DC bus voltage V x X x S 0 0383 otor temperature TEMP x x x S 0 0384 Amplifier temperature TEMP x 5 z S 0 0387 Power overload x x x S 0 0389 Effective current A x X x S 0 0392 Velocity feedback filter us S 0 0393 Command value mode x x S 0 0400 Status home switch x x x Table 10 1 List of supported SERCOS parameters Description Unit CP2 CP3 CP4 S 0 0401 Probe 1 status x x i S 0 0402 Probe 2 status x x x S 0 0403 Position feedback value status x x x S 0 0405 Probe 1 enable S 0 0406 Probe 1 enable S 0 0407 Homing enable real time control bit S 0 0408 Refrence marker pulse status x x x S 0 0409 Probe 1 positive latched x x x S 0
45. bled x x x P 0 0379 Feedforward calculation mode P 0 0386 Friction compensation scaling factor 96 P 0 0400 additional d current reference value A Table 10 1 List of supported SERCOS parameters Write protection Write protection Description e CP3 CP4 P 0 0401 Additional torque force reference value Nm N P 0 0402 Additional speed reference value without ramp 1 min P 0 0404 Additional speed reference value with ramp 1 min P 0 0405 Analog input 0 filter time ms P 0 0406 Analog input 1 filter time ms P 0 0407 Analog input values filtered 10V gives 1 0 P 0 0409 DC voltage filter time ms x X P 0 0410 Actual DC link voltage V x x x P 0 0411 Actual values of ADC channels bit x x x P 0 0412 actual position incr x x x P 0 0413 reference position incr x x x P 0 0414 actual position diffence RefPosition ActPosition incr X x x P 0 0415 actual speed 1 min x X X P 0 0416 Reference speed 1 min x x x P 0 0417 Actual speed difference RefSpeed ActSpeed 1 min x x x P 0 0418 Reference torque Nm x X x P 0 0419 Actual torque Nm x X X P 0 0430 weighting of voltage path in field model P 0 0431 Voltage limit for current drives 96 P 0 0432 select current control limitation mode P 0 0450 Motor type x x P 0 0455 Motor rated frequency Hz X x P 0 04
46. cal transfer of setpoints and actual values enables numerically controlled high performance drive applications to be implemented in the engineering industry Services are also provided for operation mode recording parameter setting configura tion and diagnosis MSD Servo Drive User Manual SERCOS II Y MOOG Figure 1 1 SERCOS communication module for MSD Servo Drive The SERCOS communication module for the MSD Servo Drive is implemented as a SERCOS II interface with a plastic optical fibre POF or hard clad silica HCS cable loop with F SMA connectors There are currently two hardware variants though in future only the variant de tailed under 2 2 will be manufactured The hardware and software have as far as possible been developed in conformance to DIN EN 61491 The basis for implementing SERCOS ll is the document titled Specification SERCOS Interface Rev 2 4 issued Feb 2005 The power supply to the communication module is provided by the MSD Servo Drive Baud rates of 2 4 8 and 16 Mbit s are possible and are detected automatically by the module This means there is no need to preset the baud rate Real time capability permits highly dynamic drive engineering applications with NC cycle times of 125 us to 65 ms multiples of 125 us The data to be transferred is defined in the SERCOS driver in numerous preference telegrams and parameters They are specially tailored to the high demands of electric drive systems A freely con
47. d S 0 0294 Modulo value divisor determine the value range modulo range within which the actual position may lie If the travel distance exceeds the modulo range an overshoot of the actual position occurs Parameter Description S 0 0103 MODULO VALUE When modulo format is preset in the position weighting method S 0 0076 the modulo value S 0 0103 defines the number range of all position data If the modulo value is exceeded the drive and the master control system perform the modulo calculation S 0 0294 MODULO VALUE DIVISOR If the modulo value S 0 0103 does not match the physical modulo value the modulo value can be corrected by the divisor S 0 0294 The effective modulo value is the product of S 0 0103 and S 0 0294 A value of 1 renders the modulo value divisor parameter ineffective Table 7 5 Scaling parameter for position weighting MOOG 7 1 4 Position polarity In parameter S 0 0055 the polarities preceding signs of the specified position data can be inverted according to the application The polarities are not inverted within a controlled system but outside of it at the input and output A positive position setpoint difference with non inverted polarity means the direction of rotation is clockwise look ing at the motor shaft Bit 0 Position reference Not inverted Inverted Bit 1 Additive position setpoint Not inverted Inverted Bit 2 Actual posit
48. degrees Table 7 3 Preferential weighting of rotary position data MSD Servo Drive User Manual SERCOS II 39 Chapter 7 e 0 0 0 Bits 2 0 Weighting method 000 No weighting 001 Translatory weighting 010 Rotary weighting Bit 3 Parameter weighting Preferential weighting Bit 4 Preferential weighting Unit Degrees for rotary weighting Metres for translatory weighting Bit 5 Bit 6 Reserved for rotary weighting Inches for translatory weighting Reserved Data source On the motor shaft Bit 7 On the load side Processing format Absolute format Bit 8 15 Table 7 4 Modulo format Reserved Bit fields in the position data weighting method parameter S 0 0076 MSD Servo Drive User Manual SERCOS II 40 The following diagram shows the various position weighting options Weighting method position data S 0 0076 S 0 0076 bit 0 2 None Transito O on S 0 0076 bit 6 Load or motor Load ormotor __ Loadormotor S 0 0076 Preferential Parameter Preferential Parameter bit 3 weighting weighting weighting weighting seq i E LSB Resolution LSB LSB 10 m variable 3600000 variabel LSB 0 0001 8 0 0078 m Degrees Figure 7 1 Diagram of position weighting methods 7 1 3 Modulo weighting If modulo weighting is preset via parameter S 0 0076 Position weighting parameters S 0 0103 Modulo value an
49. e x P 0 1519 Autotuning for Jsum speed hysteresis control torque limit Nm N P 0 0574 ENC CH3 Number of SingleTurn bits SSI absolute X x P 0 1520 Autotuning parameters for control and results P 0 0575 ENC CH3 Code selection SSI absolute position interface x x P 0 1521 TEE m P 0 0577 ENC SIME Ero eS minimum sqrt a 2 b 2 X x P 0 1522 self vommiedionnia and correl tiomresults nd EMP ane e x E P 0 1530 Determination of default motor control settings P 0 0591 ENC Axis correction start position X x P 0 1531 Gelit ntiissiolig action selecion P7050532 ENE ea eng pestan EM E P 0 2218 GOSAH DiA 402 quickstop option code P 0 0593 ENC Axis correction delta position x x P 0 2219 605BH DiA 402 shutdown option code P 0 0594 ENC Axis correction actual position value x x P 0 2220 GOST DA A0 cape onlocuonicous P 0 0595 ENC Axis correction position table for negtive speed x x P 0 2221 605DH DIA 402 halt option code P 0 0596 ENC Axis correction position table for positive speed x x Table 10 1 List of supported SERCOS parameters Table 10 1 List of supported SERCOS parameters Write protection Description Unit CP2 CP3 CP4 P 0 2222 605EH DIA 402 fault reaction option code P 0 2261 6098H DIA 402 homing method P 0 3000 Sercos Address P 0 3001 IDN list with logon errors at sercos parameter manager x x x P 0 3002 IDN list of all data with real time status support x x x
50. e stores one or more measured values while the touchprobe cycle command S 0 0170 is active it simultaneously also sets the associated bit in the measured value status If the Touchprobe 1 enable S 0 0405 is cleared by the control system the drive clears bits O and 1 in the measured value status If the Touchprobe 2 enable S 0 0406 is cleared by the control system the drive clears bits 2 and 3 in the measured value status The drive clears all bits S 0 0179 in the measured value status when the touchprobe cycle command S 0 0170 is cleared by the control system Structure of measured value status Bit 0 Measured value 1 recorded positive S 0 0409 O Not recorded 1 Recorded Bit 1 Measured value 1 recorded negative S 0 0410 O Not recorded 1 Recorded Bit 2 Measured value 2 recorded positive S 0 0411 O Not recorded 1 Recorded Bit 3 Measured value 2 recorded negative S 0 0412 O Not recorded 1 Recorded Bit 15 reserved Bit 15 4 reserved Table 9 1 Description of parameters for the touchprobe function MSD Servo Drive User Manual SERCOS II 51 Chapter 9 MOOG Parameter Description S 0 0130 MEASURED VALUE 1 POSITIVE EDGE With an external encoder the drive stores the actual position value 2 to this parameter with the positive edge of touchprobe 1 S 0 0401 during the measurement cycle If there is no external encoder actual position value 1 is stored S 0 0131 MEASURED V
51. e velocity limit value SPEED S 0 0007 Feedback acquisition capture point t4 us x x 5 0 0039 Negative velocity limit value SPEED 5 0 0008 Command value valid time t3 us x S 0 0040 Velocity feedback value 1 SPEED X x A S 0 0009 Position of data record in MDT X x S 0 0041 Homing velocity for drive controlled homing SPEED 5 0 0010 Length of MDT x S 0 0042 Homing acceleration for drive controlled homing ACC S 0 0011 Class 1 diagnostic x X x S 0 0043 Speed polarity parameter x X S 0 0012 Class 2 diagnostic x S 0 0044 Velocity data scaling type x x S 0 0013 Class 3 diagnostic x x x S 0 0045 Velocity data scaling factor x x S 0 0014 Interface status x S 0 0046 Velocity data scaling exponent x x Table 10 1 List of supported SERCOS parameters Table 10 1 List of supported SERCOS parameters MOOG MSD Servo Drive User Manual SERCOS II 55 Chapter 10 MOOG Write protection MSD Servo Drive User Manual SERCOS II 56 Write protection Description CP2 CP3 CP4 S 0 0047 Position command value POS S 0 0049 Positive position limit value x x 5 0 0050 Negative position limit value x x S 0 0051 Position feedback value 1 POS x x x S 0 0052 Reference distance 1 POS S 0 0053 Position feedback value 2 POS x x x 5 0 0054 Reference distance 2
52. erential from S 0 0160 factor S 0 0161 exponent S 0 0162 weighting Table 714 Preferential weighting of rotary position data Rotary 0 001 rad s 2 Bits 2 0 Weighting method No weighting Translatory weighting Rotary weighting Bit 3 Weighting method Preferential weighting Parameter weighting Bit 4 Distance unit rad for rotary weighting Metres for translatory weighting Reserved for rotary weighting Inches for translatory weighting Bit 5 Time unit Seconds Reserved Bit 6 Data source On the motor shaft On the load side Bit 7 15 Reserved Table 715 Bit fields in the acceleration data weighting method parameter S 0 0160 Accelaration data scaling type IDNOO160 74 Weig hting of torque and force data IDN 00160 bit 0 2 The torque force weighting is defined by the parameters listed in the following table Rotational All torque force data of the drive e g setpoint actual and limit values are subject to IDN 00160 bit 6 the preset weighting S 0 0086 Weighting method for torque force data IDN 00160 ginis isa ian S 0 0093 Weighting factor for torque force data bit 3 scaling scaling seen scaling S 0 0094 Weighting exponent for torque force data Table 716 Scaling parameter for torque force weighting US IDN 00160 7 4 1 Percentage weighting of torque and force data The percentage weighting is set via the weighting
53. es must also be set correctly and to reasonable values This involves the parameters e P 0 2242 Quick stop This is applied in the event of a fault depending on the configuration P 0 0168 Jog index 0 Jog rate rapid index 1 Jog rate slow The position correction described above may take a very long time at a very slow jog rate or may even not take place at all such as if P 0 0168 1 O In this case the drive would remain in system state 4 as the setpoint cannot be attained Bit 13 Drive HALT feed hold The Drive halt signal is state controlled and low active meaning in response to a Drive halt 0 signal the drive is in the Drive halt state The input signal is mapped in the master control word bit 13 MSD Servo Drive User Manual SERCOS II 20 4 4 Drive status word The drive status word is part of the drive telegram It contains all the key status informa tion of the drive e g Readiness of control and power pack Drive fault Change bits state class 2 and 3 Current mode Real time status bits 1 and 2 e Status information for service channel The drive status word is mapped in parameter S 0 0135 The precise structure of this parameter is shown in the following table The drive status word is transferred cyclically to the control system with each drive telegram in the SERCOS cycle see S 0 0002 SERCOS cycle time TScyc For diagnostic purposes the drive status word can be read via par
54. escription of bits iii 19 Description Of parameters c aaa 51 Description of system states 23 Description of system state transitions 23 MOOG Index Diagnosis of interface status 29 Diagnostic WEDS viaria oi 13 DIAG MOSTIG OPTIONS rain ire RR AD REDE A INN EENAA SER RN E 29 Diagram of position weighting methods ssssssssssse 40 Diagram of torque force weighting methods 46 BIETET 11 DIStOFUON LED ado rd cinco ERE iaa HE eum 13 NA c EE 12 Drive controlled homing command 20 F e 29 UI tiu deuten amens SAAE 27 Fault warning and status messages 27 gscii t E 8 Weise EE 20 FAS COS scott cO MU MINI ULNIS 15 xao EE 34 Function selector digital inputs 50 G General system state machine eres 22 H Hardware St oca isos 12 Hardware variants nennen 11 sine rm PC EM 49 Homing acceleration ssssssssssssseeeeeemeeem eene 49 Homing Methods E ar Rn RT i aeteaitiace 49 Homing velocity sse eere nnns 49 MSD Servo Drive User Manual SERCOS II 65 MOOG DINA 2 i OnIVE GENET AU incl i 37 Interface faults and diagnostic options 7 L Language switching eene eee 17 DEVIC PS ducc we 50 List of real time control bits 24 M Manufacturer specific parameters 17 Map Boc 21 MESA 7 Measures for your Mi errada 41 O Operation MO 31 TN 12 13 P Parameter access via the service channel 55 Parameter Interacci n
55. ete aui pea He idea 49 HOMINO S sere REEL DLL 49 Homing acceletatiORu sos querere ir Ce d eh ae Ht e tae TI Deed 49 Homing MOTH OG s sss oet eer E dd edem adire de D br eed 49 Rererefice xdistalce 1 2 sete tete p pep atte 49 Reference distance offset Mb ia a pa e a d ees 49 Reference carm limit SwItEhes cac t ce ere re ted eni ce da aa 50 8 8 1 Function selector digital inputs and outputs 50 9 10 MSD Servo Drive User Manual SERCOS II Touchprobe TUFICHOFI iiic ra tuos arrancada riadas 51 Parameter access via the service channel sss 55 10 1 SERCOS parameter ll Peris eer e e 55 1 Safety 1 1 Measures for your safety The instructions set out below should be read through prior to initial commissioning in order to prevent injury and or damage to property The safety instructions must be fol lowed at all times 1 2 Read the Operation Manual first Your qualification e In order to prevent personal injury or damage to property only personnel with electrical engineering qualifications may work on the device The said qualified personnel must be familiar with the contents of the Operation Manual cf 1EC364 DIN VDEO100 Knowledge of national accident prevention regulations e g BGV A3 formerly VBG 4 in Germany During installation observe the following instructions Always comply with the connection conditions and technical specifications Comply with electrical installati
56. f supported operation modes x x x S 0 0169 Probe control parameter S 0 0294 Divider naslov 5 x 3 0 0179 Probing cycle procedure command S 0 0296 Gain feed forward speed signal 96 SUE Hopes ES E i S 0 0300 Real time control bit 1 x x x 220 0180 Spindle relative offset POS S 0 0301 Allocation of real time control bit 1 S 0 0185 Length of the configurable data record in the AT x x x 5 0 0302 cala m 7 S 0 0186 Length of the configurable data record in the MDT x x x 0 0303 Allacation of realtime control bit 2 S 0 0187 IDN list of configurable data in the AT x x x 5 0 0304 RE Ei E F E S 0 0188 DN list of configurable data in the MDT x x x 0 0305 Allocation of realtime status bit 1 S 0 0189 position tracking error in user units POS x x x 0 0306 rosa rrt 2 7 x x S 0 0192 DN list of all backup operation data x x x 0 0307 Allocati n of t allfime status bit Table 10 1 List of supported SERCOS parameters Table 10 1 List of supported SERCOS parameters MOOG MSD Servo Drive User Manual SERCOS II 57 Chapter 10 MOOG Write protection MSD Servo Drive User Manual SERCOS II 58 Write protection Description Unit CP2 CP3 CP4 S 0 0310 Overload warning Motor x x A S 0 0311 Amplifier overtemperature warning x x X S 0 0312 motor overtemperature w
57. fect the next time the communication phase changes from 0 to 1 The drive address is independent of the position of the drive in the SERCOS loop Drive address programming using pushbuttons and a display is in preparation 2 4 3 Transfer rate of SERCOS interface The transfer rate specified by the master is automatically detected by the drive set ac cordingly and indicated in parameter S 0 0376 Baud rate SERCOS interface NOTE Baud rates of 2 4 8 and 16 MBaud are supported Automatic baud rate detection in the drive is implemented according to SERCOS Application Note AN15 dated 2002 08 22 2 5 Diagnostic LEDs Hardware variant 1 Colour Meaning H4 Red Distortion LED fault on bus de del H5 Green Status of SERCOS communication phase flash code H6 H7 H6 Green Receiver LED telegrams being received H7 Green Transmitter LED telegrams being sent Hardware variant 2 Colour Meaning H4 Red Distortion LED fault on bus DES H5 Green Status of SERCOS communication phase flash code 2 5 1 Use of the distortion LED When you have set the drive address you should check that there is an adequate optical signal level at each station in the loop that is that the receiver is not being underload ed or overloaded The optical level is checked by way of the distortion LED on the front panel of the MSD Servo Drive LED H4 Normally the distortion LED is unlit T
58. figurable telegram permits optimum utilization of all the possibilities offered by the line based on additional setpoint and actual value parameters such as increasing the transferred position resolu tion use of the inputs and outputs in the drive in the NC cycle and much more MSD Servo Drive User Manual SERCOS II 8 1 4 Key features e Data transfer via plastic optical fibre POF or hard clad silica HCS cable with F SMA connectors e Transfer rate Optionally 2 4 8 or 16 MBaud e Automatic baud rate detection e Transmission power programmable via DIP switches hardware variant 1 only otherwise via parameters Setup using pushbuttons and display in preparation Programmable SERCOS address via parameters Setup using pushbuttons and display in preparation e Cyclic data exchange of setpoints and actual values with exact time equidistance e SERCOS cycle time of 125 us to 65 ms multiples of 125 us programmable e Multi axis synchronization between setpoint action times and actual value mea surement times of all drives in the loop e Full synchronization of all connected drives with the master control system e Free configuration of telegram content e Maximum configurable data volume in MDT 20 bytes e Maximum configurable data volume in DT 20 bytes Programmable parameter weighting and polarity for position velocity acceleration and torque e Additive velocity and torque setpoints e Fine interpolation linear or cubic
59. in 1 V A S 0 0107 Current loop integral action time 1 us S 0 0108 Feedrate Override 96 S 0 0112 Amplifier rated current A x x x S 0 0113 Maximum motor speed rev min S 0 0114 Load limit of the motor 96 S 0 0115 Position feedback 1 type x x S 0 0116 Sercos encoder 1 resolution x x x S 0 0117 Sercos encoder 2 resolution x x x S 0 0118 Resolution of linear feedback mm x x S 0 0121 Input revolutions of load gear x x S 0 0122 Output revolutions of load gear x x S 0 0123 Feed constant um rev x x S 0 0124 Standstill window SPEED S 0 0125 Variable velocity threshold SPEED S 0 0126 Variable torque threshold TORQUE S 0 0127 CP3 transition check x x S 0 0128 CP4 transition check x x S 0 0130 Probe value 1 positive edge POS x x x S 0 0131 Probe value 1 positive edge POS x x x S 0 0132 Probe value 1 positive edge POS x x X S 0 0133 Probe value 1 positive edge POS X x x S 0 0134 Master control word Table 10 1 List of supported SERCOS parameters Write protection Write protection Description i Description CP2 CP3 CP4 CP2 CP3 CP4 S 0 0135 Drive status word x x x S 0 0200 Amplifier warning temperature TEMP S 0 0140 Controller Type x x x S 0 0201 Motor warning temperature TEMP S 0 0141 Name of motor parameter set x x
60. inear interpolation Calculation of position and rotation speed 3 Spline interpolation with external pre control Should only be used when the master control system also calculates and transmits the pre control signals for speed P 0 3055 and torque P 0 3056 4 Spline Interpolation Calculation of position rotation speed and torque 5 Spline Interpolation Calculation of position rotation speed and torquez To attain a higher resolution of the pre control signals an additional 16 bit decimal place component P 0 3100 for the position S 0 0047 can be transferred To use the higher resolution the advanced pre control mode P 0 0379 1 must be selected MSD Servo Drive User Manual SERCOS II 32 The advanced pre control mode P 0 0379 can deliver an improvement in pre control signals even without calculating P 0 3100 though this depends heavily on the scaling position resolution and must be checked on the line in each individual case For more information on scaling and interpolation please refer to the MSD Servo Drive Operation Manual 6 1 Torque control In this operation mode the master specifies a torque setpoint S 0 0080 To protect against overspeed when the maximum rotation speed is reached a speed governor is activated which limits the speed to the configured maximum P 0 0329 P 0 0330 S 0 0084 P 0 0332 P 0 0460 S 0 0081 S 0 0080 Figure 6 1 Simplified schematic diagram of torque control
61. ing of the position setpoint and pre control signals is effected as in the operation mode detailed in 6 4 1 S 0 0348 P 0 1508 S 0 0376 gt P 0 0378 P 0 1516 P 0 3056 MrefFF Pasar El 50 0296 alternative P 0 1507 8 0 0375 Y P 0 3055 Mere Q P 0 0458 P 0 0320 P 0 0329 P 0 0428 P 0 0321 P 0 0330 P 0 0333 alternatively c 9 9399 P 0 0325 S 0 0081 P 0 0331 p 0 0414 S 0 0104 P 0 0334 S 0 0100 P 0 0326 P 0 0331 alternatively P 0 0371 0 S P 0 0167 S 0 0101 P 0 0327 P 0 0460 S 0 0047 S 0 0360 Ny S Torque controlled p ai G Y E O Es E O O Zu motor GnFF s 7 Gru s GmFF s P 0 0351 mis S 0 0040 S 0 0053 S 0 0156 Em Figure 6 5 Schematic diagram of position control without tracking error with external pre control signals 7 Weighting The weighting describes the physical unit and number of decimal places with which the numerical values of the parameters exchanged between the master control system and the drives are to be interpreted The method of weighting is defined by the parameters for position velocity acceleration and torque weighting 7 1 Weighting of position data The translatory position weighting is defined by the parameters listed in the following table All position data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0076 the weight ing factor and weighting exponent are
62. inside the drive Optionally master control side external or in drive generation of rotation speed and acceleration pre control e Service channel for parameter setting and diagnosis e Support for touchprobes 1 and 2 e Support for spindle commands e Support for configurable real time status and control bits e Support for configurable signal status and control word e Supported commands Term Explanation S 0 0099 Reset state class 1 Cyclic data Time synchronized transfer of MDT DT as from phase 3 valid as from phase 4 S 0 0127 Prepare switch to phase 3 Service channel Subsidiary protocol in the telegrams Parameter values attributes scaling and names can be sequentially transferred S 0 0128 Prepare switch to phase 4 Transfers can also be effected in parallel with the time critical cyclic data MDT DT in phases 3 and 4 The service channel provides services for operation mode recording param S 0 0152 Position spindle command eter setting configuration and diagnosis S 0 0148 Drive controlled homing IDN Ident Number S x yyyy or P x yyyy 16 bits are available to represent S 0 0170 Touchprobe command a SERCOS ident number S 0 0262 Parameter initialization to defaults command ii eR E Structure of IDN S 0 0263 Parameter initialization to backup values command 15 14 13 12 11109876543210 0 0264 Save current parameter values command S P 0 1 Xx m0 7 yyy
63. ion 1 Not inverted Inverted Bit 3 Actual position 2 Not inverted Inverted Bit4 Position limit values Not inverted Inverted Bit 5 15 Reserved Table 7 6 Setting of position polarity via parameter S 0 0055 MSD Servo Drive User Manual SERCOS II 41 Chapter 7 MOOG 7 2 Weighting of velocity data The velocity weighting is defined by the parameters listed in the following table All velocity data of the drive e g setpoint actual and limit values are subject to the preset weighting If No weighting is selected via parameter S 0 0044 the weighting factor and weighting exponent are irrelevant The velocity data is then subject to a differently defined weighting IDN Description S 0 0044 Weighting method for velocity data S 0 0045 Weighting factor for velocity data S 0 0046 Weighting exponent for velocity data Table 7 7 Scaling parameter for position weighting 7 2 4 Weighting of translatory velocity data Translatory weighting is selected via S 0 0044 The significance of the LSB of the transla tory velocity data is defined by the following equation LSB significance Travel unit S 0 0045 e 1050 0046 Time unit When translatory preferential weighting is selected the weighting as per the following table applies Weighting method Unit Weighting Weighting Preferential from S 0 0045 from S 0 0045 factor S 0 0045 exponent S 0 0046 weighting
64. ion mode Table 4 1 Master control word parameter S 0 0134 Bit Explanation 000 Primary mode defined by operation datum S 0 0032 001 Secondary mode 1 defined by operation datum S 0 0033 010 Secondary mode 2 defined by operation datum S 0 0034 qx Secondary mode 3 defined by operation datum S 0 0035 Bit 7 Real time control bit 2 S 0 0302 Bit 6 Real time control bit 1 S 0 0300 Bit 5 4 3 Data block element 000 Service channel not activated close the service channel or abort an ongoing transfer 00 IDN of operation datum The service channel is closed for the preceding IDN and opened for a new one 010 Name of operation datum 01 Attribute of operation datum 100 Units of operation datum 10 Minimum input value 11 0 Maximum input value 14 Operation datum Bit 2 0 Ongoing transfer 1 Last transfer Bit 1 R W Read Write 0 Read service INFO 1 Write service INFO Bit O MHS 0 1 Service transport handshake of master Table 4 1 Master control word parameter S 0 0134 4 3 1 Description of bits 13 15 Bit14 Drive ENABLE power stage enable The MSD Servo Drive has a control input X4 10 ENPO Enable Power for hardware en able This input must be configured for operation of the power stage at 24 V The device additionally features the STO Safe Torque Off function category 3 see MSD Servo Drive Operation Manual and Application Manual via control input X4 22 ISDSH The logic for this function High edge
65. ioning the position specified in S 0 0282 is approached in time optimized mode at the velocity preset in S 0 0259 and the acceleration configured under S 0 0260 The positioning commands are executed in accordance with S 0 0346 positioning con trol word and in modulo mode also S 0 0393 positioning command word Modulo mode is defined according to the weighting in S 0 0076 bit 7 see section 7 Applicable parameters S 0 0282 Target position not S 0 0258 S 0 0259 Positioning velocity S 0 0260 Acceleration and deceleration S 0 0346 Positioning control word and for modulo mode additionally e S 0 0393 Positioning command word e S 0 0103 Modulo value e S 0 0294 Modulo divisor e S 0 0346 is defined as follows BitO Change from O gt 1 Adopt new position Bit 1 2 00 Position mode 01 2Jog 10 Jog 11 Halt Bit 3 0 Absolute 1 Relative only where bits 1 2 2 00 MOOG Bit 4 O Referred to target position relative jobs are totalized 1 Referred to actual position only where bit 3 1 and bits 1 2 00 Confirmation of import into S 0 0419 Position Acknowledge S 0 0419 Position Ac knowledge is cleared when S 0 0346 bit O changes from 1 gt 0 or when the mode is switched Modulo mode In modulo mode the rotation distance is calculated by way of the SERCOS scaling from S 0 0103 S 0 0294 S 0 0393 is defined as follows only with the modulo function configured Bit 1 0 Direction of rotatio
66. irrelevant The position data is then subject to a differently defined weighting IDN Description S 0 0076 Weighting method for position data S 0 0077 Weighting factor for translatory position data S 0 0078 Weighting exponent for translatory position data S 0 0079 Rotary position resolution S 0 0103 Modulo value Table 7 1 Scaling parameter for position weighting MOOG 741 1 Weighting of translatory position data Translatory weighting is selected via S 0 0076 The significance of the LSB of the transla tory position data is defined by the following equation LSB significance Unit e S 0 0077 e 1059 0078 When translatory preferential weighting is selected the weighting as per the following table applies Weighting method Unit Weighting Weighting Preferential from S 0 0076 from S 0 0076 factor S 0 0077 exponent S 0 0078 weighting Linear m 1 7 0 1 m Table 7 2 Preferential weighting of translatory position data 7 1 2 Weighting of rotary position data Rotary weighting is selected via S 0 0076 The significance of the LSB of the rotary posi tion data is defined by the rotary position resolution S 0 0079 LSB significance Unit T revanto S 0 0079 When rotary preferential weighting is selected the weighting as per the following table applies Weighting method Rotary position resolution S 0 0079 3 600 000 Unit from S 0 0076 Preferential weighting from S 0 0076 Rotary Degrees 0 0001
67. l time status bit 2 S 0 0306 Bit 6 Real time status bit 1 S 0 0304 Bit 5 Command change bit 0 No change of command acknowledgement 1 Change of command acknowledgement Bit 4 Reserved Bit 3 Status of setpoint transfer 0 The drive ignores the setpoints of the master such as during drive controlled motion homing or parameterizable delay times 1 The drive follows the setpoints of the master control system Bit 2 Fault in service channel 0 No fault 1 Fault in service channel fault message in drive service INFO S 0 0014 Bit 1 Busy bit 0 Step ended ready for new step 1 Step being processed new step not permitted Bit O AHS 0 1 Service transport handshake of drive Table 4 2 Drive status word parameter S 0 0135 MOOG Chapter 4 The system state of the drive is indicated on the display on the front panel of the unit Bits 15 14 13 and 3 of the SERCOS status word are mapped onto one of eight pos sible system states according the following table The drive state machine SERCOS is described in the following section Bit 15 Bit 14 Bit 13 Bit 3 Display readout System state designation START Drive in initialization phase NOT READY FOR START Power stage without power no DC link voltage input STO requested NOT READY FOR START Power stage without power no DC link voltage STARTING LOCKOUT POWER Not enabled DC link voltag Starting lockout Power e present input STO requested STARTIN
68. lative setpoint input Activation of non cyclic commands with S 0 0346 Bit 8 0 Without drive controlled mode switching 1 With drive controlled mode switching Table 6 1 Operation mode coding The operation modes supported by the MSD Servo Drive are listed in parameter S 0 0292 Operation mode Description 0000 0000 0000 0001 Torque control 0000 0000 0000 0010 Speed control drive controlled profile generation with parameterized ramps 0000 0000 0000 0110 Speed control master control system controlled profile generation no track ing error 0000 0000 0000 0011 Position control with position encoder 1 e g motor encoder master control system controlled profile generation no use of pre control signals 0000 0000 0000 0100 Position control with position encoder 2 e g external encoder master con rol system controlled profile generation no use of pre control signals 0000 0000 0000 1011 Position control with position encoder 1 e g motor encoder master control system controlled profile generation with use of pre control signals 0000 0000 0000 1100 Position control with position encoder 2 e g external encoder master con rol system controlled profile generation with use of pre control signals 0000 0000 0001 0011 Position control with position encoder 1 e g motor encoder drive controlled profile generation no use of pre control signals 0000 0000 0001 0100
69. me status bits in fast measure ments When an active measurement edge occurs the effect of the same edge is disabled This block is cleared by resetting the touchprobe 1 2 enable S 0 0405 S 0 0406 The measurement is re enabled by then setting the touchprobe 1 2 enable The parameters of the touchprobe function are explained in the following table MOOG Parameter Description TOUCHPROBE CONTROL PARAMETER The settings in this parameter define which touchprobes and edges are active for the touchprobe cycle Structure of touchprobe control parameter Structure of touchprobe control parameter O Positive edge not active 1 Positive edge active S 0 0169 Bit 1 Touchprobe 1 negative edge O Negative edge not active 1 Negative edge active Bit 2 Touchprobe 2 positive edge O Positive edge not active 1 Positive edge active Bit 3 Touchprobe 2 negative edge O Negative edge not active 1 Negative edge active TOUCHPROBE CYCLE COMMAND If the touchprobe cycle command is set and enabled by the master the drive responds to the following parameters Touchprobe 1 2 enable S 0 0405 S 0 0406 and 0 0170 Touchprobe 1 2 S 0 0401 S 0 0402 as programmed in touchprobe control parameter S 0 0169 While the command is active the master control system can perform multiple measurements The command is cleared by the control system if no further measurements are required MEASURED VALUE STATUS If the driv
70. method S 0 0086 No other param eters are required In percentage weighting the permanently permissible standstill torque LSB 108 Variable LSB 10 Variable of the motor S 0 0111 is used as the reference value All torque force data is given in 96 m s 9 LSB weight rad s 3 LSB weight with one decimal place IDN 00161 IDN 00161 n IDN 00162 IDN 00162 7 4 2 Weighting of force data Figure 7 3 Diagram of acceleration weighting methods The weighting of force data is set via parameter S 0 0086 The significance of the LSB of the force data is defined by the following equation LSB significance Unit e S 0 0093 e 1050 0094 When preferential force weighting is selected the weighting as per the following table applies Weighting method Unit Weighting Weighting Preferential from S 0 0086 from S 0 0086 factor S 0 0093 exponent S 0 0094 weighting linear N 1 0 1N Table 717 Preferential weighting of force data MOOG MSD Servo Drive User Manual SERCOS II 45 Chapter 7 MOOG 7 4 3 Weighting of torque data The weighting of torque data is set via parameter S 0 0086 The significance of the LSB of the torque data is defined by the following equation LSB significance Unit e S 0 0093 e 1050 0094 When preferential torque weighting is selected the weighting as per the following table applies Weighting method Unit Weighting Weighting Preferential from S 0 0086 fromS 0 0086 factor S 0 0093 exponent S 0 0094 weighting
71. mit value exceeded shut off S 0 0049 S 0 0050 Bit 14 reserved Bit 15 Manufacturer specific fault 5 0 0129 Bit O No fault Bit 1 Fault Table 5 1 Structure of parameter S 0 0011 state class 1 MOOG MSD Servo Drive User Manual SERCOS II 27 Chapter 5 MOOG 5 2 Warning messages The key warning messages of the drive are displayed in parameter S 0 0012 state class 2 The warning messages in square brackets are defined in the SERCOS specifica tion but are not supported by the MSD Servo Drive Parameter Description S 0 0012 State class 2 C2D Shut off warning Activating or clearing a warning in C2D sets the C2D change bit bit 12 in the drive status By reading C2D over the service channel the C2D change bit in the drive status is reset to 0 By way of the C2D form S 0 0097 the effect of the shut off warnings on the change bit in the drive status can be cancelled The bits defined in C2D are additionally defined by the single parameters in brackets Structure of the C2D Bit 0 Overload warning S 0 310 Bit 1 Amplifier overheating warning S 0 0311 Bit 2 Motor overheating warning S 0 0312 Bit 3 Cooling fault warning S 0 0313 Bit 4 Reserved Bit 5 Positioning speed n limit S 0 0315 Bit 6 Reserved Bit 7 Reserved Bit 8 Reserved Bit 9 Undervoltage message DC link Bit 10 Reserved Bit 11 Excessive speed deviation S 0 0377 Bit 12 Re
72. modes el eseciieeetest t paira sda OM erren 31 MORGUE COTO e pba 33 Hu gae is 34 Position control with drive controlled position profile generation 35 Position control without tracking error 37 6 4 1 In drive generation of pre control signals iii 37 External generation of pre control signals iii 38 6 5 MSD Servo Drive User Manual SERCOS II 5 MOOG 7 71 4 2 7 3 7 4 8 2 8 3 8 4 8 5 8 6 8 7 8 8 A AR RU RU 39 Weighiting of positionidata a A reo d De c EE asa 39 71 1 Weighting of translatory position data 39 74 2 Weighting of rotary position data 39 74 3 Modulo weighting tcn re e e SP de des 41 24 4 Position polarity scc c A o E n tes 41 Weighting of velocity data roseo ehe is 42 7 21 Weighting of translatory velocity data ssssssssssssseeeee 42 7 2 0 Weighting of rotary velocity data 42 Teia Weloeity pola osse dete a eren ins tee cias 43 Weighting of acceleration data 44 7 31 Weighting of translatory acceleration data sssssssssssssssss 44 7 3 2 Weighting of rotary acceleration data 44 Weighting of torque and force data 45 7 4 4 Percentage weighting of torque and force data 45 742 Weighting OF force data an 45 7 4 8 Weighting of torque data 46 PAA Torque pola coc 46 HONAN as rat al DR A 49 Drive controlled homing command 49 Setting Of SERCOS encoders 1 4 2 si
73. n IDN As a result the touchprobe 2 enable can be assigned to a real time control bit S 0 0301 The touchprobe 2 enable is only polled by the drive as long as the touchprobe cycle command S 0 0170 is active For a repeat measurement with the same edge of touchprobe 2 the master control system must set the touchprobe 2 enable to 0 and back to 1 In the operation datum only bit O is defined For more information see S 0 0179 Table 9 1 Description of parameters for the touchprobe function MSD Servo Drive User Manual SERCOS II 52 Parameter Description S 0 0409 MEASURED VALUE 1 RECORDED POSITIVE With this parameter Measured value 1 recorded positive is assigned an IDN As a result Measured value 1 recorded positive can be assigned to a real time status bit S 0 0305 In the operation datum only bit O is defined Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 1 enable signal S 0 0405 is set to 1 and the positive edge of touchprobe 1 S 0 0401 is signalled At the same time the drive stores the actual position value to measured value 1 positively S 0 0130 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 1 enable is set to 0 For more informa tion see S 0 0179 S 0 0410 MEASURED VALUE 1 RECORDED NEGATIVE With this parameter Measured value 1 recorded negative
74. n with modulo function 00 Positive direction 01 Negative direction 10 Shortest distance distance optimized 11 Reserved MSD Servo Drive User Manual SERCOS II EE Chapter 6 MOOG MSD Servo Drive User Manual SERCOS II 36 S 0 0348 2p P 0 0314 MrefFF S 0 0258 S0029 P 0 0372 S 0 0296 S 0 0260 Es ii TI P 0 0458 P 0 0320 P 0 0329 P 0 0428 P 0 0321 P 0 0330 P 0 0333 alternatively s 0 0322 P 0 0325 S 0 0081 P 0 0331 P 0 0334 s 00100 O P 0 0326 P 0 0332 P 0 0344 P 0 0613 c 0 0104 P 0 0371 P 0 0167 S 0 0101 P 0 0327 P 0 0460 NA WA Torque controlled gt gt gt G gt l gt SO s ZN motor Grs GnFF s E Gru s GmFF s P 0 0351 S 0 0051 S 0 0040 S 0 0053 S 0 0156 i e Figure 6 3 Schematic diagram of position control with position profile generation Number Description Unit Number Description Unit S 0 0047 Position setpoint open loop control POS P 0 0378 Speed pre control filter time constant ms S 0 0051 Actual position 1 POS S 0 0296 Speed pre control scaling 0 0053 Actual position 2 POS Alternatively S 0 0258 Target position POS S 0 0348 Acceleration pre control scaling 96 P 0 3055 External velocity pre control VEL P 0 0375 Speed pre control scaling P 0 3056 External accele
75. ng parameters are provided e S 0 0301 Assignment IDN real time control bit 1 e S 0 0413 IDN bit number real time control bit 1 e S 0 0303 Assignment IDN real time control bit 2 e S 0 0414 IDN bit number real time control bit 2 e S 0 0305 Assignment IDN real time status bit 1 e S 0 0415 IDN bit number real time status bit 1 e S 0 0307 Assignment IDN real time status bit 2 S 0 0416 IDN bit number real time status bit 2 The real time control bits and real time status bits can be configured in phases 2 3 and 4 The assignment parameters contain the number of the parameter to configure for the respective real time bit With regard to configuration note that the bit number must first be assigned S 0 0413 S 0 0414 S 0 0415 S 0 0416 before a corresponding IDN is assigned as the real time bit S 0 0301 S 0 0303 S 0 0305 S 0 0307 MSD Servo Drive User Manual SERCOS II 23 MOOG MSD Servo Drive User Manual SERCOS II 24 A faulty configuration e g unknown IDN is refused when writing to S 0 0301 S 0 0303 S 0 0305 or S 0 0307 S 0 0401 Status touchprobe 1 Only the parameters listed in P 0 3003 Real time control bits or P 0 3002 Real time 0 0402 OA status bits are permissible Lists P 0 3002 and P 0 3003 are described in the following tabl S 0 0403 Status
76. o check the optical level check the distortion LEDs of all the drives in the loop starting from the transmitter output of the master in the direction of the signal flow see diagram under Connection of fibre optic cables Check the distortion LEDs in the direction of the light signal flow that is starting with the first drive in the loop If its distortion LED is unlit move on to the next drive Continue doing this until you reach the last drive and then the master control NOTE The distortion LED must not be lit or flashing MOOG Chapter 2 A distortion LED lights up in the following cases Defective fibre optic cable to predecessor e Unsupported transfer rate e Incorrectly set transmission power Procedure if distortion LED is lit Check the fibre optic cable with its connectors from its physical predecessor in the loop to the affected drive see below Compare the transfer rate of the master with the supported drive baud rates On the physical predecessor of the affected drive check the transmission power setting and adjust it as necessary by the DIP switches HW variant 1 or via parameter P 0 3004 HW variant 2 In HW variant 1 parameter P 0 3004 only has an influence if a higher transmission power is set on the DIP switches That is to say the lowest transmission power set via the parameter or the DIP switches determines the actual effective transmission power It is not possible to upscale by way of the
77. on standards e g cable cross section PE conductor and earth connection Do not touch electronic components and contacts electrostatic discharge may destroy components Read the Operation Manual first Follow the safety instructions Refer to the user information Electric drives are dangerous Electrical voltages 230 V to 480 V present even 10 minutes after the power is cut so always make sure the system is no longer live Rotating parts e Hot surfaces Protection against magnetic and or electromagnetic fields during installation and operation Persons fitted with heart pacemakers metallic implants and hearing aids etc must not be allowed access to the following areas ZA Dangerously high voltages of gt 50 V capacitor charge may still be Areas where drive systems are installed repaired and operated Areas where motors are installed repaired and operated Motors with perma nent magnets pose a particular hazard DANGER If it is necessary to access such areas suitability to do so must be determined beforehand by a doctor MOOG Chapter 1 Table 1 1 Safety instructions 13 Introduction to the SERCOS interface SERCOS stands for SErial Realtime COmmunication System and is a globally standard ized IEC 61491 and EN61491 digital interface for communication between master con trol systems drive units and other distributed peripherals The real time criti
78. onitoring speed difference threshold rpm P 0 0549 ENC CH1 Signal correction type X x P 0 1500 Testsignal generator control word P 0 0550 ENC CH1 Signal correction values x x P 0 1501 Testsignal generator output signal selector P 0 0551 ENC CH1 Encoder observation minimum sqrt a 2 b 2 x x P 0 1502 Testsignal generator number of cycles P 0 0552 ENC CH1 Error and status codes of absolute encoders x x x P 0 1503 Testsignal generator offsets for rectangular wave var P 0 0553 ENC CH1 Length of an analog signal period linear nm x x P 0 1504 Testsignal generator times for rectangular waves s ES P 0 1505 Testsignal generator amplitude of sinusoidal wave var P 0 0554 ENC CH1 Length of an digital increment linear absolute nm x x P 0 1506 Dm Hz Ui EN Cn Ono GU pelle fairs eve Bap 2 E P 0 1507 Testsignal gen Initial phase for rotating current vector degree ll ad ME i P 0 1508 Testsignal generator PRBS mininum toggle time ms P 0 056 ENG GHz signal correction values a Z P 0 1509 Testsignal generator PRBS signal amplitude var P 0 0563 ENC CH2 Encoder observation minimum sqrt a 2 b 2 x x P 0 1515 a EE P 0 0570 ENC CH3 Absolute position interface selection x x P 0 1516 Total inertia ot motor and plant kg m m Robo ENC CH3 Inidexipulse signal testimidde i P 0 1517 Autotuning for Jsum estimation control word P0205372 E ee Aeee MEMES encores s 5 P 0 1518 Autotuning Jsum hysteresis speed control speed limit rpm iuis E O bits 551 absolut
79. or the touchprobe function Parameter Description MEASURED VALUE 2 RECORDED NEGATIVE With this parameter Measured value 2 recorded negative is assigned an IDN As a result Measured value 2 recorded negative can be assigned to a real time status bit S 0 0305 Bit O in this parameter is only set by the drive when the touchprobe cycle command S 0 0170 is active the touchprobe 2 S 0 0412 enable signal S 0 0406 is set to 1 and the negative edge of touchprobe 2 S 0 0402 is signalled At the same time the drive stores the actual position value to measured value 2 negatively S 0 0133 The drive clears this bit when the master control system clears the touchprobe cycle command or the touchprobe 2 enable is set to 0 In the operation datum only bit O is defined Table 9 1 Description of parameters for the touchprobe function MOOG MSD Servo Drive User Manual SERCOS II Chapter 9 MOOG MSD Servo Drive User Manual SERCOS II meam 1 0 Pa ra meter access Via the BOO UST Write protection CP2 CP3 CRA service channel CEC E S 0 0016 Configuration list of AT z x S 0 0017 DN list of all operation data x X x The service channel is used for parameter setting and diagnosis Transfer via the service a E BUS RERUMS Sean
80. ration pre control ACC Alternatively S 0 0259 Positioning velocity VEL P 0 0376 Acceleration pre control scaling 96 S 0 0260 Positioning acceleration ACC P 0 0377 Pre control ON OFF set automatically by operation mode P 0 0370 Interpolation method P 0 1516 Overall mass moment of inertia kgm 2 11 Linear interpolation P 0 0279 Servo drive control difference tracking error POS 2 External pre control signals from SERCOS master only with 0 0104 Paavo dieca To P 0 3055 P 0 3056 not with drive controlled positioning Alternatively 3 Cubic spline interpolation n R ar P 0 0360 P servo drive gain 1 min 4 Cubic spline interpolation II Table 6 5 Speed control parameter P 0 0374 Position setpoint delay ms P 0 0372 Speed pre control filter time constant ms Table 6 5 Speed control parameter 6 4 Position control without tracking error 6 4 1 In drive generation of pre control signals In this operation mode the master cyclically dictates position setpoints The drive per forms a fine interpolation between the position setpoints and also calculates the speed and acceleration pre control signals The position setpoint can be delayed for a configu rable number of servo drive cycles P 0 0558 The amplitudes of the delay signals can be scaled via parameters S 0 0296 speed pre control and S 0 0348 acceleration pre con trol The speed pre control signal is smoothed by way of a P T1 element with the filter time constant P
81. re details visit http www sercos de MOOG 1 Summary description 1 2 Commissioning of the SERCOS interface 2 3 n SERCOS communication phases l 3 4 Cyclic data transfer 4 5 Fault warning and status messages 5 6 Operation modes 6 Weighting 7 8 Drive controlled homing 8 9 Touchprobe function 9 10 Parameter access via the service channel 10 p MSD Servo Drive User Manual SERCOS II MOOG Pictograms To provide clear guidance this Operation Manual uses pictograms Their meanings are set out in the following table The pictograms always have the same meanings even where they are placed without text such as next to a connection diagram ATTENTION Misoperation may result in damage to the drive or malfunctions MSD Servo Drive User Manual SERCOS II Table of contents 1 1 1 1 2 1 3 1 4 1 5 ZA 2 2 2 3 2 4 2 5 3 1 3 2 3 3 3 4 3 5 CIC NER 7 Measures for your safety ronde it 7 Read the Operation Manual first 7 Introduction to the SERCOS interface errantes 7 A a 8 IMPR E EHE 9 Commissioning of the SERCOS interface 11 Connections and controls hardware variant 1 sss 11 Connections and controls hardware variant 2 11 Connection of fibre optic cables n idea 12 Hardware settiligs scio oc i eco Ret i eite A e sn 12 2 4 1 Setting the transmission power of the SERCOS interface sssss 12 2 4 2
82. rol word are described in the following table S 0 0311 Warning threshold heat sink temperature exceeded Configuration list signal control word S 0 0312 Warning threshold motor temperature exceeded m 7 n 7 a This list contains all the parameter numbers included in the signal status word S 0 0330 Status speed setpoint reached The sequence of parameter numbers in the list determines the significance S 0 0331 Standstill message of the bits in the signal status word The first parameter number in the list defines bit 0 the last parameter number defines bit 15 Parameter S 0 0328 5 0 0332 Speed threshold undershot defines the bit number to be inserted into the signal status word from the S 0 0333 Torque threshold exceeded relevant parameter S 0 0334 Torque limit reached or exceeded Bit number assignment list signal control word S 0 0335 Speed limit reached or exceeded In this configuration list the bit numbers of the parameters from S 0 0027 S 0 0336 Target position reached copied into the signal control word S 0 0145 are programmed The sequence x of the bit numbers in the list corresponds to the sequence of the signals in the S 0 0341 Status in track position signal control word Table 4 7 List of parameters configurable as real time status bits P 0 3002 Table 4 8 Configuration parameters for the signal control word For configuration of the signal status word the list of configurable parameters of the real time status bit P 0 3002 applies Sign
83. rough in ascending order It is only possible to drop back a phase by way of communication phase O The communication phase is dictated by the master On switching to communication phase 4 the initialization is completed and power up is enabled If the phase sequence is interrupted the status indicator remains stuck at the last communication phase reached The current communication phase is indicated by way of a flash code by LED H5 Intervals of about one second unlit are followed by LED H5 flashing briefly n times n being the number of the current com munication phase 3 1 Communication phase O When communication phase O is active automatic baud rate detection in the drive has completed successfully The drive is in communication phase O and is waiting for the master to switch from phase 0 to 1 During communication phase 0 the green LED H5 on the drive unit remains unlit LED H5 flash code Status Indication of communication phase O ERR EX ES Ro ELLE SSS SS EU E Table 3 1 Flash code Communication phase O MOOG Chapter 3 3 2 Communication phase 1 If communication phase 1 is active the drive is in phase 1 The master has not yet trig gered a switch from phase 1 to 2 During communication phase 1 the green LED H5 on the drive unit cyclically displays the flash code set out in the following table LED H5 flash code Status H4 ES Indication of communication phase 1 E Table 3 2 Flash code
84. s via COM access P 0 0050 D hardware print x x x P 0 0142 Output inversion OSDO 1 2 0 1 2 MBRK 6 REL1 2 7 15 x x P 0 0051 Sub ID hardware print x x x P 0 0143 States of digital outputs X x x P 0 0052 D hardware option on X11 X x x P 0 0144 DriveCom Auto start of system P 0 0053 ID hardware option on X12 x x x P 0 0145 DriveCom Quick stop check in shut down command P 0 0054 D hardware CPLD x x x P 0 0146 DriveCom Quick stop check in ReadyToSwitchOn P 0 0055 Chip and redesign tracing identification x X x P 0 0147 DriveCom Check EnablePower false for ENPO over ENMO P 0 0060 D software option on X12 x x x P 0 0148 DriveCom Timeout in RdyToSwitchOn to enable motor ms P 0 0080 Bootloader information version and checksum x x x switch P 0 0081 Checksum of firmware in flash x x x P 0 0149 DriveCom Start initialisisation of system parameter P 0 0100 Function of digital input ENPO P 0 0152 DriveCom actual state description x x x P 0 0101 Function of digital input ISDOO X x P 0 0153 DrvCom fault reset command P 0 0102 Function of digital input ISDO1 a P 0 0154 DriveCom Timeout motor standstill ms P 0 0103 Function of digital input ISD02 P 0 0159 Motion control selection P 0 0104 Function of digital input ISDO3 x x P 0 0165 Motion profile selection P 0 0105 Function of digital input ISDO4 x y P 0 0166 Motion profile jerk time ms P 0 0106 Function of digital input ISDO5 a P 0 0167 Motion profile speed override factor P 0 0107 Function
85. selector OSDO1 e P 0 0124 Function selector OSDO2 e P 0 0125 Function selector motor brake 9 Touchprobe function The touchprobe function permits event controlled position measurement Positive and negative signal edges at the two fast digital inputs ISDO5 and ISDO6 can be config ured as triggers for a position measurement To activate the Measurement with touchprobe function the Touchprobe cycle com mand S 0 0170 is used This command permits both single and multiple measurements use of real time bits Setting and enabling the command activates the Measurement function in the drive The drive signals this by setting the command acknowledgement data status to set enabled not yet executed No Command correctly executed acknowledgement is made This means that the command change bit is only set in the event of a fault By way of the Touchprobe control parameter S 0 0169 specific edges of touch probe 1 or 2 can be activated The measurement is enabled by the Touchprobe 1 2 enable signals S 0 0405 S 0 0406 When the selected edge occurs on the touchprobe the drive stores the actual position value to the relevant parameter S 0 0130 to S 0 0133 measured value 1 or 2 positive or negative edge and sets the associated bit in the measured value status S 0 0179 The status bits in the measured value status are addressable separately via the ident numbers S 0 0409 to S 0 0412 and so can be assigned to the real ti
86. served Bit 13 Target position outside travel range see S 0 0323 Bit 14 Reserved Bit 15 Manufacturer specific warning S 0 0181 Bit 0 Warning not active Bit 1 Warning active Table 5 2 Structure of parameter S 0 0012 state class 2 MSD Servo Drive User Manual SERCOS II 28 5 3 Status messages The key status messages of the drive are displayed in parameter S 0 0013 state class 3 The status messages in square brackets are defined in the SERCOS specification but are not supported by the MSD Servo Drive Parameter Description S 0 0013 Class 3 diagnostic C3D Operating status messages If a state in the drive changes the assigned bit in C3D is also changed accord ingly and the change bit for C3D Bit 11 in the drive status is set to 1 By reading C3D over the service channel the C3D change bit in the drive status is reset to 0 By way of the C3D form S 0 0098 the effect of the operating status messages on the change bit in the drive status can be cancelled The bits defined in C3D are additionally defined by the parameter numbers in brackets Structure of the C3D Bit 0 n actual 2 n setpoint see S 0 0330 Bit 1 n actual 0 see S 0 0331 Bit 2 n actual nx see S 0 0332 Bit 3 T gt Tx see S 0 0333 Bit 4 T gt T limit see S 0 0334 Bit 5 n setpoint n limit siehe S 0 0335 Bit 6 see S 0 0335 Bit 6 Target position reached see S
87. switch command has been successfully executed the drive is switched to communication phase 4 by the master During communication phase 4 the green LED H5 on the drive unit cyclically displays the flash code set out in the following table The drive can only be enabled via the control word in communica tion phase 4 4 Parameter interface 41 Profile parameters S 0 xxxx The SERCOS specific profile parameters S 0 0001 S 0 4095 are mapped as Moog parameters P 0 10001 to P 0 14095 The corresponding addressing is Moog ID 10000 dec 4 1 1 Manufacturer specific parameters P 0 xxxx The manufacturer specific parameters Moog parameters P 0 0001 P 0 4095 are ad dressed as follows as P parameters Moog ID 8000 hex Example Moog P 0 0101 function selector ISDO1 is to be found in the IDN listing S 0 0017 as P 0 0101 Currently only record 0 is supported SERCOS currently does not support language switching English is installed by default MOOG Chapter 4 4 2 Cyclic data transfer To synchronize the drives in the loop at the start of each SERCOS cycle cycle time lone S 0 0002 the master sync telegram MST is sent see diagram below Its only information content is the communication phase dictated by the master The contents of the master data telegram MDT and the drive telegram DT are configurable The con trol sends a common master data telegram for all drives to the drives once per SERCOS cycle
88. tage Bit14 0 ENPO 0 7 Fault 6 UZK off Fo Fault response active System state 7 On System state 3 a d d 8 Fault Reaction 2 enable Voltage completed 6 UZk or Bit14 1 8 ENPO 1 5 Disable Voltage Bit14 0 ENPO 0 g gt Fault System state 8 da Starting lockout System state 2 9 Fault Reset 1 UZK OK 6 UZK off 6 UZK off p a Not ready for start System state 1 0 Start System initialization in progress q System state O A Figure 4 2 General system state machine control via SERCOS Designation Description 0 System initialization in Initialization after device reset e g hardware parameter progress list drive 1 Not ready for start Initialization complete no mains power or DC link volt age less than switch on threshold 2 Starting lockout DC link voltage greater than switch on threshold 3 Ready for start Power stage enabled via hardware ENPO and ISDSH and bit 14 in MDT 4 On Power stage is enabled bit 15 in MDT 1 state is automatically run through in open loop control mode via SERCOS 5 Loop control active Current applied to motor loop control active 5a Active mode The selected operation mode is active 5b Drive halt Drive halt active Shutdown via stop ramp 5c Command execution A command with a movement sequence is active set points from the SERCOS
89. the weighting factor and weighting exponent are irrelevant The acceleration data is then subject to a differ ently defined weighting IDN Description S 0 0160 Weighting method for acceleration data S 0 0161 Weighting factor for acceleration data S 0 0162 Weighting exponent for acceleration data Table 712 Scaling parameter for acceleration weighting 7 31 Weighting of translatory acceleration data Translatory weighting is selected via S 0 0160 The significance of the LSB of the transla tory acceleration data is defined by the following equation LSB significance SSO S 0 0161 e 1050 0162 Time unit When translatory preferential weighting is selected the weighting as per the following table applies Weighting method Unit Weighting Weighting Preferential from S 0 0160 from S 0 0160 factor S 0 0161 exponent S 0 0162 weighting Translatory m s 2 1 6 0 001 mm s 2 Table 713 Preferential weighting of translatory acceleration data MSD Servo Drive User Manual SERCOS II 44 7 3 2 Weighting of rotary acceleration data Rotary weighting is selected via S 0 0160 The significance of the LSB of the rotary ac celeration data is defined by the following equation LSB significance Mavelum S 0 0161 e 10590162 Time unit When rotary preferential weighting is selected the weighting as per the following table applies Weighting method from S 0 0160 Unit Weighting Weighting Pref
90. to MOVE_COMMAND 1 This aims to exclude the possibility of a shut off or a jerky approach to the target position at start of control because of a setpoint difference in the axis This function also depends on the configuration of P 0 0743 maximum tracking error MSD Servo Drive User Manual SERCOS II 19 MOOG P 0 0743 equal to O Position tracking error off The drive switches on without correction and feeds the position setpoint of the NC directly onto the drive The drive moves to the target position with a jerk as necessary Major differences end in a speed tracking error depending on the parameter setting A jerky axis motion is the consequence e P 0 0743 not equal to O Position tracking error on The drive reads the target position of the master con trol system and moves under drive control to that position position correction If the difference between the position specified by the control system and the actual position is greater than the tracking error P 0 0743 the drive switches to a fault state now without moving no major axis motion Otherwise the drive cor rects the difference with the slow jog rate P 0 0168 1 and the acceleration from P 0 2242 quick stop When the position has been reached the drive switches to state 5 and the drive follows the setpoints of the master control system only now is readiness signalled in the control word IMPORTANT With the scaling the ramp setting which the system access
91. tus 34 Signal Control AMORA veronica 31 T Telegratmfallilftes aran ctas 29 Torque ONO tada illegal 33 Torque control paraMeter ooooocococococococnconooonnnnonnoonnnnnononnnnncononnnnnninnnnnos 33 Torque Policial oi 46 TOUCH POD ad En a seda 51 Touchprobe TINO escorts ola patct detiene 12 66 MOOG MSD Servo Drive User Manual SERCOS II HEM V Velocity polarity siste tieaaaiaaaia 43 Velocity weighting methods e mme ctt tit tre dense 39 W Warning MESSI E 2 ln A E aa 44 Weighting of acceleration data 45 Weighting of force data 39 Weighting ot position data cronica iet teet iu ecu ed Vh dama 44 Weighting of rotary acceleration data 39 Weighting of rotary position data 42 Weighting of rotary velocity data sssssssssssssss 45 Weighting of torque and force data 46 Weighting of torque data ssssssssssssseeeeeeeen 44 Weighting of translatory acceleration data 39 Weighting of translatory position data 42 Weighting of translatory velocity data 42 MOOG MSD Servo Drive User Manual SERCOS II Bem TAKE A CLOSE LOOK Moog solutions are only a click away Visit our worldwide Web site for more informa tion and the Moog facility nearest you MOOG Moog GmbH Hanns Klemm 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 s
92. ubsidiaries All quoted trademarks are property of Moog Inc and its subsidiaries All rights reserved O 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 the technical further development of our products nformation and specifications may be changed at any time For information on the latest version please refer to drives support moog com D no CA65648 001 Rev 1 0 11 2011
93. um of 3 independent encoder interfaces These encoder interfaces are assigned to the logical SERCOS position encoder interfaces 1 and 2 via parameters P 0 0530 Selection of SERCOS encoder 1 and P 0 0531 Selection of SERCOS encoder 2 Homing is executed to the position encoder determined by the ac tive operation mode see also section 6 MOOG 8 3 Homing velocity The homing velocity is preset via S 0 0041 Find reference cam and P 0 3031 Find zero point The unit and the number of decimal places corresponds to the velocity weighting in S 0 0044 8 4 Homing acceleration The homing acceleration is preset via S 0 0042 The unit and the number of decimal places corresponds to the acceleration weighting in S 0 0160 8 5 Homing method The homing method is selected via P 0 2261 The various methods are detailed in the MSD Servo Drive Application Manual SERCOS profile parameter S 0 0147 defining the homing method is not yet currently sup ported 8 6 Reference distance 1 2 The reference distance 1 2 S 0 0052 S 0 0054 describes the distance between the machine zero point and the reference point referred to the motor measurement system After homing the actual position is calculated from the reference distance and the refer ence distance offset The weighting is preset according to S 0 0076 The two parameters relate to SERCOS encoders 1 and 2 respectively 8 7 Reference distance offset 1 2 The reference distance offset 1 2

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