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MSD Servo Drive Profibus/Profinet

1. pln en n profile 4 0 Bit 7 Bit 8 Jog mode is manufacturer specific Jog mode acts as described in profile 4 1 0 No warning Table 5 8 Parameter P 1267 COM DP CtrlConfig 1 Warning issued Bit 6 5 4 2 Drive status word 0 Switch on not prevented Operation mode Speed control Operation mode Positioning control TM i SS Se US Hone 0 Quick stop activated Bit 14 1 Quick stop deactivated 0 ENPO or Safe Standstill not set Bit 4 1 ENPO or Safe Standstill set 0 Spin out of true activated Bit 13 1 Spin out of true deactivated 0 Drive rotating Bit 3 1 Drive stationary 0 No error Bit 12 1 Error reported 0 Not used mE S un Bit 2 mue Driving job confirmation by toggling this bit 0 Conio deale Bit 11 1 Control active in operation drive following reference values 0 Not used Homing point not yet set Bit 1 1 Nerucad Homing point set 0 Power stage inactive not ready Bit 10 1 Power stage active ready 0 Frequency or speed not reached Target position not reached Bit 0 1 Frequency or speed reached or Target position reached 0 Not ready for start exceeded 1 Ready for start Bit 9 Table59 X Drivestatusword 200000 0 0 0 No access rights via PLC 1 Access via PLC allowed MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 41 Profidrive operation modes Protidrive operation modes MOOG ID no CA65645 001 Date 01 2015 Meaning 0 1 Profile generator status 0 Stop 1 Acceleration
2. 10 2 1 5 PROFIBUS address setting aecenas er trate ena rt ears drea cum rri tme 11 2 1 6 PROFIBUS option card CUS DNS mena rats deam renim 11 2 1 7 GSD file PROFIBUS i ssasstastivxdisdazu es seins idu d easi nemis tunes 12 2a PRO ENT de eur ec ae Gi ae ao one 13 2 25 asa uio c r H H 13 2 2 2 Pin assignment of the RJ45 socket 13 2 2 3 Specification of the PROFINET cable 14 2 2 4 Menino o 25 CPP 14 2 2 5 PROFINET option card displays 15 2 2 6 GSDIMIL Tile PROFINET sererai desit okdattadou ind api biet cnc 15 MOOC ID no CA65645 001 Date 01 2015 AIG aa Wl aN Sel E E E o 17 3 1 Parameter process data objects PPOS 17 3 1 1 Standard PROFIdtive TRIO GI AIS ccce estuche ta oi tus dea eins 17 3 1 2 WSO SOC CITI 4 SR attend Roanne 19 3 1 3 Parameter Channel PKV sense dada bid ei RA 23 S MONON e a 24 2 canoe MMT 24 22 Ee RAE an ad en en ot on 24 Acyclic data transfer ssssssssssss 27 Al PROFIBUS parameter attest e 27 4 2 PROFINET parameter access cccccccsescenssseccsseessesecceeecesceeecssseeensseccuececceeeecseses 29 4 3 Base Mode Parameter Access data format 29 4 4 Examples of request and response telegrams 0 2 2 cc ccccccccccccccccccccececeeeeeeeeeeeeeeeaes 22 Profi
3. Parameter name Net MSD Servo Drive User Manual PROFIBUS PROFINET 36 P 0401 CON SCON AddTRef P 0330 CON SCON TMaxNeg P 0331 CON SCON TMaxPos P 0332 CON SCON TMaxScale P 0329 CON SCON Tmax P 0460 MOT TNom Torque controlled motor Meaning P 0167 MPRO REF OVR Velocity override P 0320 CON SCON Kp PI speed controller gain P 0321 CON SCON Tn PI speed controller integral action time P 0325 CON SCONFilterFreq Limit frequencies for torque reference value filter P 0326 CON SCONFilterAssi Torque reference value filter draft parameter P 0327 CON SCONFilterPara Torque reference filter parameter P 0328 CON SCON SMax Speed limit reference variable motor nominal speed P 0330 CON SCON TMaxNeg Negative torque limit reference variable nominal torque P 0331 CON SCON TMaxPos Positive torque limit reference variable nominal torque P 0332 CON SCON TMaxScale Torque scaling factor P 0333 CON SCON SMaxNeg Negative speed limitation reference value motor nominal speed P 0334 CON SCON SMaxPos Positive speed limitation reference value motor nominal speed P 0339 CON SCON Tmax Torque limitation reference value nominal torque P 0351 CON SCALC TF Actual speed filter time constant P 0371 CON IP RefTF Speed reference filter time constant P 0401 CON SCON AddTRef Additive torque reference P 0402 CON SCON
4. Specification PROFIBUS Two wire cable EIA485 12 MBaud Yes 1000 m 9 6 to 187 5 KBaud 400 m 500 KBaud 200 m 1 5 MBaud 100 m 3 to 12 Mbaud The specified PROFIBUS cables should be used see chapter 2 1 3 Line without repeater Line and tree with repeater MSD Servo Drive via rotary coding switch addressing parameter Single Axis Compact via addressing parameter Yes via DPVO Yes via DPV1 Yes via PKW channel or DPV1 Yes Slave PROFINET Standard Ethernet patch cable e g S FTP Cat 5e 100 MBaud Fixed 100 m when using the specified PROFINET cable see chapter 2 2 3 When using standard commer cially available Ethernet cables a max cable length of 40 mis possible Tree star and line Yes up to 64 bytes Yes Yes IO device with real time RT and synchronous IRT isochronous real time communication PROFINET Version 2 2 October 2007 Table 9 1 Technical data MSD Servo Drive User Manual PROFIBUS PROFINET 61 MOOG ID no CA6564 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 62 Index Symbole 3 51001 Life errors OO TTE 26 4 Sign of Life errors triggered with error reaction 26 FP SCONMGMIE OIS OVA 8 A POOL ONS EE ln ere rener 17 PCE OT ANON AON 5 a un tb ne 56 ACC 2 2101616 I ee aan ee eee ne E eee EIE 56 ACCES SII SI ereksie nannini era A EEA AEREI 27 ACCES A E 27 Address parameters ee rene
5. Start Length Length Start Desti Source Desti Source Data Frame End Delimi repeat Delimi nation Address nation Service Unit Check Delimi ter ter Address Service Access Se ter Access Point quence Point 68H X X 68H XX XX XX XX XR Table 4 1 PROFIBUS SD2 telegram for DPV1 services The acyclic services can be used by a class 1 master PLC etc and by a class 2 master PC tool The following table gives an overview of the acyclic services available in relation to the respective master class Acyclic Master services class Meaning Write request 1 Write request via DPV1 33 33H Alarm 1 Interrupt handling B5 SEE Table 4 2 Overview of acyclic services offered DPV1 is always accessed according to a fixed mechanism 1 Write request 5F DSAP SSAP zu Jm E zs i FCS Req id Slot Index Length User 68H XX 32 30 5F 0 2F n 0 n XX 16H 2 Write response 5F DU DU DU DU DSAP AP F gt E Req id Slot Index Length D 68H XX 32 30 Sr 0 2F n 1 XX 16H 3 Read request 5E DU DU DU DU D a DSAP AP F ED x Y s Req id Slot Index Length ES __68H x 32 30 SE 0 2F MAX x 16H 4 Read response 5E DSAP SSAP zt D E din dm FCS Req id Slot Index Length User 68H XX 32 30 DE 0 2F n 1 0 n XX 16H UE pun Meaning DSAP SSAP Initiate request 2 Establish an acyclic connection 32H
6. MOOC ID no CA6564 001 Date 01 2015 PO SSSR EE i UR et T A E EET 20 Process data SONA oeenn eseuen E EEEE EEEE 20 ui P 9 RO FEE epee outta nese pte poU grata ret onpm POE PDPIE er ere 9 PROPRIBUSQISISSS Se Sarat rer nn edis sotto Nedre 11 RO E nec eee attentats UR Mc EN pU 10 PROFIBUS Cable pini assigner 5 eres steel fer et hehe asbest seet sed keen Sn 9 PROFIBUS OO CO a teter 9 PROFIBUS parameter Edessa la ar ERE dae nbi inet 27 PROFIBUS parameters eee morte sna DE LEDENDE KEDEDE HERRER 39 PROFIBUS SD2 telegram for DPV1 services essssssee 27 uS mc 17 a el 13 quus 14 Promnner operation Modest serier erne E ENATS EEEREN EESE Enan 35 PROENE FSR ORE ER TT TM 13 mie OU paning NT RR RERER 8 PA eae puvesencaumenieneeeesteas 17 Q Quick STOD Option COES NER lbnr ens erne S cr R S cR Te Bl E NR TEE 8 RSS o D 51 Wecalp 20 SCSI ee ene ee ee ee ee 30 DO 30 Response identifier AK Slave Master 23 MSD Servo Drive User Manual PROFIBUS PROFINET 65 MOOC ID no CA6564 001 Date 01 2015 S CONTE SONORE ae nn 56 SIN S MR 8 SU OT see nee cts TEE se a gas 24 seio NIC Rr d TREE 26 Sign of Life errors with error reaction 26 SIND AIS COND AC Ver eme nba nece e tita ne ei 11
7. Operation mode Position control 0 Error reset on rising edge 0 gt 1 1 Bit 6 0 Deactivate reference value Activate driving set via rising and falling 1 Activate reference value euge ee ang as in interpolating modes enable interpolation Bit 5 0 Freeze ramp generator No feed hold 1 Unfreeze ramp generator Feed hold Bit 4 0 Reset ramp generator Abort driving set 1 Activate ramp generator Do not abort driving set Bit 3 0 Controller not enabled 1 Controller enabled operation enabled Bit 2 0 Quick stop active 1 Quick stop inactive Bit 1 0 Spin out of true active 1 Spin out of true inactive Bit 0 0 Switch power stage OFF 1 Switch power stage ON Table 5 6 Master control word END y Bit 0 11 Not used Bit 12 15 Master Sign of Life SOL Table 5 7 Master control word 2 With parameter P 1267 COM DP CtrlConfig bits 6 and 8 can be Operation mode Speed control Operation mode Positioning control configured Du Value 0 default Value 1 0 Velocity error out of tolerance band jer d da Bit 6 The driving job can be started with The driving job can be started only with the positive veladi rer sari sess eles leita Rue el the negative and positive edge edge profile 4 1
8. P 0334 CON SCON SMaxPos Positive speed limitation reference value motor nominal speed P 0339 CON SCON Tmax Torque limitation reference value nominal torque P 0351 CONES CANCE Actual speed filter time constant P 0360 CON_PCON_Kp P position controller gain P 0372 CON IP SFFTF Speed pre control filter time constant P 0374 CON IP EpsDly Position reference delay P 0375 CON IP SFFScale Speed pre control scaling P 0376 CON IP TFFScale Acceleration pre control scaling P 0379 CON IP FFMode Configuration of pre control P 0401 CON SCON AddTRef Additive torque reference P 0402 CON SCON AddSRef Additive velocity reference MOOG ID no CA65645 001 Date 01 2015 Profidrive operation modes P 0414 CON_PCON_PosDiff Position controller control difference tracking error P 0417 CON_SCON_SDiff Speed controller differential P 0460 MOT_TNom Motor nominal torque P 0458 MOT_Snom Motor nominal speed P 1270 COM_DP_RefSpeed Velocity reference P 1271 COM_DP_ActSpeed Actual speed P 1272 COM_DP_RefTorque Torque reference P 1274 COM_DP_RefPos Reference position P 1275 COM DP TargetPos Target position P 1276 COM DP ActPos1 Current actual position P 1277 COM_DP_PosVelocity Positioning velocity P 1278 COM_DP_Acc Acceleration ramp P 1279 COM_DP_Dec Deceleration ramp P 1516 SCD_Jsum Overall mass moment of inertia Table 5 11 Control parameters MSD Servo Drive User Manual PROFIBUS PROFINET 45 MOOG ID no CA65645 001 Date 01 2015 MSD Serv
9. 0x396 format word 0x42 Positive response Axis No Param 0 2 0 1 Table 4 9 ID 2 Change Parameter Parameter P 0918 now has the value 7 Write double word Refer Req Axis No Pa Attr No Ele PNU high PNU low ID ram DCE AE A A AE AE EE CT AE TUNE A ET VE Sub high Sublow Format No VELTS VELTS Value Value Values high low high low 0 0 0x43 1 1 2 3 4 Table 4 10 ID 2 Change Parameter Attr 0x10 value PNU P 0918 0x396 format word 0x42 Req q AXIS No Param 1D 0 2 0 1 Table 4 11 ID 2 Change Parameter Parameter 884 now has the value 16909060 MSD Servo Drive User Manual PROFIBUS PROFINET Read simple parameter value Read word Pnu Pnu Sub high Low high 0 1 0 1 0x10 0 1 3 Ox9A 0 32 Table 4 12 ID 1 Request Parameter Attr 0x10 value PNU P 0922 0x39A Positive response No Value Value Format values high low 0 1 0 1 0x42 1 0 9 Table 4 13 Format word 0x42 parameter value 9 Read double word 0 1 0 1 0x10 0 1 4 OxFA 0 Table 4 14 ID 1 Request Parameter Attr Ox10 value PNU P 1274 Ox4FA Positive response No Value Value Value Format values Hhigh HLow lhigh 0 1 0 1 0x43 Table 4 15 Format dword 0x43 parameter value 0x01020304 16909060 Error access Erroneous parameter number 0 1 0 1 0x10 0 1 0 9 0 Table 4 16 ID 1 Request Parameter Attr Ox10 value PNU 9 Negative response No Value Value
10. 4 1 May 2006 Order no 3 172 PROFIBUS User Organisation Profile Guidelines Part 1 Identification amp Maintenance Functions 1 2 Oct 2009 Order No 3 502 MSD Servo Drive User Manual PROFIBUS PROFINET General MOOG ID no CA65645 001 Date 01 2015 1 5 Helpline Support amp Service Our Helpline can provide you with fast targeted assistance if you have any technical queries relating to project planning or commissioning of the drive unit To that end please collect the following information prior to making contact 1 P2 3 4 5 6 Type designation serial number and software version of the devices see Software rating plate Moog DRIVEADMINISTRATOR Version in use menu Help Information gt Version Displayed error code version on 7 segment display or Moog DRIVEADMINISTRATOR Description of the error symptoms how it occurred and relevant circumstances Save device settings to file in Moog DRIVEADMINISTRATOR Name of company and contact telephone number and e mail address If you have any technical questions concerning project planning or commissioning of the servo drive please feel free to contact our helpline Helpline Please contact us Moog GmbH Hanns Klemm StraBe 28 D 71034 B blingen Phone 49 7031 6220 Telefax 49 7031 622 100 E Mail drives support moog com If you need further assistance our specialists at the Moog Service Center will be happy to help Service Please
11. 7 move pos direction for Homing method for increment coded distance coded encoder encoder for positive direction 6 move pos direction for Homing method for increment coded distance coded encoder encoder for negative direction Act position homing 5 oiisetimultit hfi encodef Homing absolute value encoder Homing moan pe Continuous homing negative edge 4 HOMSW 22 with continuous of reference cam reference Aaa U Continuous homing positive edge of 3 HOMSW 20 with continuous reference cam reference 2 No homing mode act No homing only an offset position homing offset adjustment is made Reference position 1 homing offset parameter Actual position Zero HOOFF 0 Not defined No homing 1 LCCW Neg end switch zero Homing negative limit switch and pulse zero pulse 2 LCW Pos end switch zero Homing positive limit switch and pulse zero pulse Pos reference cams zero Homing to cam negative edge 3 ee pulse at RefNock Low positive direction zero pulse Pos reference cams zero Homing to cam positive edge 4 M NS pulse at RefNock High positive direction zero pulse i Designation in MDA 5 Function name setting MPRO_402_ o P 2261 HomingMethod Digital inputs M C Homing to cam negative edge 5 DIN Eus Io usen negative direction zero ulse RefNock Low 9 P Neg reference Homing to cam positive edge 6 PAUA Sag PEG negative direction zero pulse RefNock High Left reference cam 7
12. AddSRef Additive velocity reference P 0417 CON SCON SDiff Speed controller differential P 0458 MOT Snom Motor nominal speed P 0460 MOT TNom Motor nominal torque P 1270 COM DP RefSpeed Velocity reference P 1271 COM DP ActSpeed Actual speed P 1278 COM DP Acc Acceleration ramp P 1279 COM DP Dec Deceleration ramp Table 5 2 Control parameters 5 2 Drive state machine SET Sone 0 System initialisation in progress start Initialisation after device reset e g hard ware parameter list controller Designation Description To make changes via the control word STW bit 10 must be set 1 Not ready to switch on Initialisation completed but no power supply gt As from system state 2 Safe Standstill must first be set followed by a positive edge of ENPO or intermediate circuit voltage less than CE switch on threshold ANR 2 Switch on disabled DC link voltage greater than switch on threshold eee ires 3 Ready to switch on Optional conditions satisfied e g homing run quick stop inactive ional eckve 4 Switched on Power stage enabled System state 5 E E 5 Operation enabled Power supplied to motor operation active 6 Quick stop active Quick stop active 4 Controller 5 Control 13 Error enable disabled J 7 Error reaction active Error reaction is active reference values from the PROFIBUS master are ignored PESO gee Ser ee F eer 8 Error Drive in e
13. Name Meaning Number of approved SOL Sign of Life errors P 0925 COM PN Sign of life limit until error shutdown type U16 0 Oxfffe Oxffff 2 switch off P 1296 COM PN Sign of life err cnt Display of current error counter P 1280 Control word 2 Bit 12 15 Sign of Life master P 1281 Status word 2 Bit 12 15 Sign of Life slave Table 3 13 Sign of Life The Sign of Life function can be deactivated with the value OxFFFF in parameter P 0925 COM PN Sign of life limit factory setting The function is activated when the first cyclic telegram is received in which bits 12 15 of the second control word 1280 are not equal to 0 When the function is activated the error counter parameter P 1296 COM PN Sign of life err cnt is set to 0 With each newly received telegram the counter bits 12 15 in the second status word parameter P 1281 COM DP Statusword2 is incremented by the value 1 In each cycle the status counter is compared with the counter in the second control word If that counter is not equal the error counter parameter P 1296 COM_PN_Sign_ of_life_err_cnt is incremented by the value 10 If the counters in the second control word and second status value are equal the error counter parameter P 1296 COM_PN_ Sign_of_life_err_cnt is decremented by the value 1 The error counter cannot fall below O If the error counter parameter P 1296 COM_PN_Sign_of_life_err_cnt is greater than or equal to 10 parameter P 0
14. U16 0 65535 3 4 P 1279 Braking deceleration U16 0 65535 COM DP Dec 4 D 5 6 6 7 7 8 8 9 9 10 Table 7 5 Assignment of the master slave process data channels Each subindex represents a 16 bit process data channel For this reason an Int32 parameter for example must be mapped to two subindices The selectable parameters and their data types are set out in the table Assignment of master slave process data channels The configuration of the process data areas can be freely selected by the user in the sequence of the signal assignments The only requirement is compliance with the data type format That means that a 32 bit variable also accordingly requires two process data channels The following table shows an example of the process data area from the drive to the master The subindices in list P 0916 are assigned the desired parameter numbers for the purpose Signal table PZD Parameter Data type value range 915 Parameter name area number Subindex 0 1 P 0968 Status word U16 0 655 35 COM DP Statuswort 1 2 P 1271 Actual speed COM DP ActSpeed 116 32768 32767 2 3 3 4 4 5 5 6 6 I 7 8 8 9 9 10 Table 7 6 Assignment of the slave master process data channels The following parameters must then be set for speed control mode 1 CON_CfgCon 300 SCON 2 Parameter list gt control This parameter is used to change operation mode The
15. area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus gt PROFIBUS DP in the left hand tree structure of the user interface In this folder signal list P 1284 COM_DP_SignalList_Write contains all possible writeable process data signals and signal list P 1285 DP_SignalList_Read contains all possible readable process data signals The user can assign the process data channels freely as required The actual assignment takes place in signal tables P 0915 and P 0916 Parameter list gt Fieldbus gt PROFIBUS DP Signal table P 0915 COM_DP_PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table P 0916 COM_DP_PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example configuration of the process data area from the master to the drive The subindices in list P 0915 are assigned the stated parameter numbers for the purpose MOOC ID no CA65645 001 Date 01 2015 Signal table PZD 915 area Subindex Parameter number Parameter name Data type value range 0 1 P 0967 Control word COM_DP_Controlword U16 0 65535 1 2 P 1275 Target position COM_DP_TargetPos 132 2147483648 2 3 P 1275 Target position COM_DP_TargetPos 2147483647 Control word 2 3 4 P 128
16. case of a read access the length must be sufficiently large for the data to be read max 240 bytes User 1 byte N bytes Contains the user data to be processed Data Unit DU Data Unit 4 2 PROFINET parameter access Meani Byte Param aah 0 Req id 48H Idle REQ RES Idle REQ RES In the case of PROFINET the acyclic services are executed by way of the Record Data CR 51H Data Transport REQ Data transport REQ connection relationsship There are read and write commands for the purpose RES WER CIE Slave RES Parameter request Write Data Record with index Read response OK or error message OxDF 56H Resource Manager Resource manager REQ OxBO2E RE 2 Parameter request Read Data Record with index Writ OK OxDE 57H Initiate REQ RES Initiate REQ RES OxBO2E D OE IM een a te 58H Abort REQ Abort REQ SCH Alarm REQ RES Alarm REQ RES Il Il SEH Read REQ RES Read REQ RES 4 3 Base Mode Parameter Access data format DFH Write REQ RES Write REQ RES D1H Data Transport NEG Data transport negative The following table sets out the telegram format of parameter access for a parameter RES RES request and response D7H Initiate NEG RES Initiate negative RES Base mode parameter DCH Alarm NEG RES Alarm negative RES Byte address request DEH Read NEG RES Read negative RES ne Request Request reference Reques
17. contact us Phone 49 7031 6220 E Mail info germanyQmoog com MSD Servo Drive User Manual PROFIBUS PROFINET 8 2 Commissioning 2 1 2 Pin assignment of the D Sub socket PROFIBUS is connected via a nine pin sub D plug connector The pin assignment is shown in the diagram below and described in the following table 2 1 PROFIBUS RxD TxD P DGND 1 2 3 4 5 Note For technical data and information on topologies and maximum cable lengths see chapter 9 2 X14 2 1 1 Connections and user controls VP RxD The connections and user controls of the PROFIBUS interface are shown in table 2 1 5 Volt TxD N LEDs H1 H2 H3 act as status indicators The rotary coding switches S1 and S2 Figure 2 1 Pin assignment of D SUB connector MSD Servo Drive only can be used to set the PROFIBUS address of the drive The PROFIBUS cable is connected to the D Sub socket X14 RS 485 Signal Description Front panel No Comments J P i FE 1 SHIELD Earthed shield MSD Servo Drive Single Axis Compact H1 Status indicator LED yellow 2 RP Reserved for power supply via bus H2 Status indicator LED red EM 3 B B red RxD TxD P Send and receive data H3 Status indicator LED green i 4 CNTR P Control signal for repeater 4 Rotary coding switch to set the S1 PROFIBUS address for the drive 5 C C DGND Data reference potential and power 0x S2 S1 supply
18. desired reference and actual values can be mapped to a defined process data area All mappable signals are listed in two signal tables which can be accessed using the parameter editor under the folder Parameter list gt Fieldbus gt MSD Servo Drive User Manual PROFIBUS PROFINET 56 PROFIBUS DP in the left hand tree structure of the user interface In this folder signal list P 1284 COM DP SignalList Write contains all possible writeable process data signals and signal list P 1285 DP Signallist Read contains all possible readable process data signals The user can freely assign the process data area The actual assignment takes place in signal tables P 0915 and P 0916 Parameter list gt Fieldbus gt PROFIBUSDP Signal table P 0915 COM DP PZDSelectionWrite contains all signals that can be sent by the control master to the drive Signal table P 0916 COM DP PZDSelectionRead contains all signals that can be sent by the drive to the control master The following table shows an example of the process data area from the master to the drive The subindices in list P 0915 are assigned the desired parameter numbers for the purpose Signal table 915 A HENNE Parameter name i area number Subindex Data type value range 0 1 P 0967 Control word U16 0 65535 COM_DP_Controlword 1 2 P 1270 Reference speed 116 COM_DP_RefSpeed 32768 32767 2 3 P 1278 Acceleration COM DP Acc
19. identifier format shown in the diagram below MSD Servo Drive User Manual PROFIBUS PROFINET 20 Data length 00 1 byte words 15 16 bytes words Input output 00 Spec identifier format 01 Input 10 Output 11 Input output 0 Byte 1 Word 0 Consistency over byte word 1 Consistency over entire length Figure 3 1 Identifier format After the parameterisation phase the master sends the drive a configuration telegram containing this special identifier ID On receipt of this the drive compares the data in the configuration telegram with the configuration held in the drive The identifier determined by the PPO type can be found in the GSD file under the heading Modules The following table shows these identifiers for the user specific telegrams PROFIBUS PROFINET PROFINET Referred to identifier Evaluation by special identifier format figure 3 6 Table AK module ID IRT module ID y SP fig ID Hex Slave Master 1 OxF3 0x65 0x165 4 words input output data consistent overall length PKW channel OxF1 2 words input output data consistent overall length PZD channel OxF3 0x66 0x166 4 words input output data consistent overall length PKW channel OxF5 6 words input output data consistent overall length PZD channel 3 OxF1 0x67 0x167 2 words input output data consistent overall length PZD channel 4 Oxi 0x68 0x168 6 words input output data consistent overall
20. to 14 HOMSW polarity zero pulse at Various homing runs to cam RefNock Low 15 16 not defined Reserved 17 LCCW Neg end switch Homing negative limit switch 18 LCW Pos end switch Homing positive limit switch Pos reference cams Stop Homing to cam negative edge 09 TINY at RefNock Low positive direction 20 HOMSW Pos reference cams Stop Homing to cam positive edge at RefNock High positive direction Neg reference cams Homing to cam negative edge 21 eee Stop at RefNock Low negative direction Neg reference cams Homing to cam positive edge 22 ee Stop at RefNock High negative direction 23 to Left reference cam HOMSW polarity Stop at Various homing runs to cam 30 RefNock Low 31 32 Not defined Reserved 33 Next left zero pulse Zero pulse in negative direction Table 6 1 Parameters for limit switch homing Parameter name setting Designation in MDA 5 Function MPRO_402_ eee HomingMethod Digital inputs Left reference cam 34 polarity Stop at Zero pulse in positive direction RefNock High 35 Actual position T Zero is current position Reference position Table 6 1 Parameters for limit switch homing The signal for the homing cams can optionally be linked to one of the digital inputs for which the inputs ISDOO to ISDO6 are available The limit switches can also be used for homing The assignments of the digital inputs can be found under the para
21. two different identifiers are defined Request parameter Change parameter For more details on the identifier refer to the User data table Response ID This identifier contains information on the origin of a request If a request is executed correctly the response ID matches the request ID If a request cannot be executed an identifier from the User data table is generated Axis No This value allows single axes in a multi axis system to be addressed selectively Axis No 0 single axis No of Parameters Number of parameters processed in a request MSD Servo Drive User Manual PROFIBUS PROFINET 30 Attribute Describes the individual access to a parameter structure For example whether access to the actual numerical value or to the parameter description text is desired Further information can be found in the User data table Number of Elements When accessing an array or a string this area contains the field size or string length as appropriate Parameter Number Contains the parameter number PNU Subindex Addresses the first array element of a parameter or the beginning of a character string This also allows addressing of description texts and text arrays Format Specifies the relevant parameter and ensures unique assignment of the parameter value in the telegram Number of values Number of following values Values Parameter values Field name Data type V
22. 0 DE oo de U16 0 65535 Positioning velocity i 2 Per COM DP PosvVelocity 132 2147483648 ositioning velocity 2147483647 A COM DP PosvVelocity 6 7 P 1278 Acceleration COM_DP_Acc U16 0 65535 7 8 P 1279 Braking deceleration COM_DP_Dec U16 0 65535 8 9 0 9 10 0 Table 7 1 Example of assignment of the master slave process data channel Each subindex represents a 16 bit process data channel For this reason the target position transferred as Int32 for example is mapped to subindices 1 and 2 in order to transfer a real 32 bits The parameters available for selection and their data types are listed in chapter 4 The configuration of the process data channels can be freely selected by the user in the sequence of the signal assignments Compliance with the data type format must be ensured however The following table shows an example of the process data area from the drive to the master The subindices in list P 0916 are assigned the desired parameter numbers for the purpose MSD Servo Drive User Manual PROFIBUS PROFINET Examples of commissioning with manufacturer specific telegrams Bie Examples of commissioning with manufacturer specific telegrams MOOC ID no CA65645 001 Date 01 2015 Signal table Parameter Data type number value range 915 Parameter name Subindex Status word 0 COM DP Statuswort CONS Actual position 132 COM DP ActPos1 2147483
23. 2 Positioning with sel velocity 3 Deceleration Torque limitation with positive direction of travel Torque limitation with negative direction of travel ISD0O ISD01 ISD02 I5D03 Reserved WO Dy OT BY W N Reserved Reserved 11 Reserved 12 15 Slave Sign of Life SOL Table 5 10 Drive status word 2 NOTE For more information refer to chapter 6 Homing MSD Servo Drive User Manual PROFIBUS PROFINET 42 5 5 Position control application class 3 In position control mode from operating state 5 the drive can switch to various states in response to defined bits in the master control word These states are illustrated in the following diagram Initial state 5 Control active ZSW1 Bit 10 13 TRUE Start homing STW1 Bit 11 TRUE Homing End homing STW1 Bit 11 FALSE in progress N STW1 Bit 11 FALSE Reference point set Done STW1 Bit 11 TRUE Activate driving set STW1 Bit 6 TRUE Activate driving set STW1 Bit 6 FALSE Interpolation active ZSW1 Bit 10 13 FALSE and edge at ZSW1 Bit 12 Figure 5 4 Position control A positioning command is activated by setting control word bit 4 feed hold via control word bit 5 and an edge at control word bit 6 Further positioning commands can then be controlled via control word bit 13 If bit 13 is set changes to the reference
24. 21 CON SCONLTn A efFF P 0402 CON_SCON_AddSRef P 0401 P 1272 CON SCON AddTRef P 0325 CON SCONFilterFreq COM DP RefTorque S P 0328ICON_SCONFilterAssi CON scoN spe P 032ACON_SCONFiterPara P 0330 CON SCON TMaxNegi P4458 MOT Snom P 0331 CON_SCON_TMaxPos P 0414CON POON Pos Diff P0328 CON_SCON_Smax P 03324CON 3CON TMaxScale CON 5 P 0374 P 0360 740333 CON 5CON SMaxNegh PAM MOT TNom CON JP EpsDly ICON PCON Kp MOT_TNom Pref VY VY a Gis Torque controlled motor P 1271 P1276 COM DP AdPos1 COM DP ActSpeedi Figure 5 5 Position control loop P no Parameter name Meaning P no Parameter name Meaning P 0167 MPRO_REF_OVR Velocity override P 0320 CON_SCON_Kp PI speed controller gain P 0321 CON_SCON_Tn PI speed controller integral action time P 0325 CON SCONFilterFreq Limit frequencies for torque reference value filter P 0326 CON SCONFilterAssi Torque reference value filter parameter P 0327 CON SCONFilterPara Torque reference value filter parameter P 0328 CON SCON Smax Speed limitation P 0330 CON SCON TMaxNeg Negative torque limit reference variable nominal torque P 0331 CON SCON TMaxPos Positive torque limit reference variable nominal torque P 0332 CON SCON TMaxScale Torque scaling factor P 0333 CON SCON SMaxNeg Negative speed limitation reference value motor nominal speed
25. 31H Abort request 2 Break off an acyclic connection 32H 0 30H Read request 2 Read request via DPV1 32H 0 30H Write request 2 Write request via DPV1 32H 0 30H Data request 2 Data transfer 32H 0 30H Read request 1 Read request via DPV1 33 33H MOOG ID no CA65645 001 Date 01 2015 Acyclic data transfer Each read or write access must first be initiated by a write service on Data Unit Index 47 2Fhex 1 This write request gives the slave the information about the request it is to execute After this the slave acknowledges with a response telegram 2 which initially contains no response data MSD Servo Drive User Manual PROFIBUS PROFINET 27 Acyclic data transfer MOOC ID no CA65645 001 Date 01 2015 This is simply an acknowledgement of the request and contains only the mirrored DPV1 header of the request telegram In the event of an error a negative response is sent To then read the data from the slave the master must present a read request 3 If the response 4 to this is positive the user data can be used by the master In the event of an error a negative response is sent The DPV1 read request diagram shows the telegram sequence for read access This shows the slave sending a negative read response to the first read request This negative read response means that the required data cannot yet be provided Not until the following cycle has the slave executed the request to the extent that it can send a positive read r
26. 44 Error 0x45 0xFF Reserved No of Values Unsig 0x00 0xEA Quantity 0 234 Limited ned8 OxEB OxFF Reserved by DPV1 Telegram length Error Number Unsig 0x0000 Error Numbers ned16 OxOOFF see table below Table 4 6 User data Error number Meaning Error number Meaning 0x00 Impermissible parameter number 0x01 Parameter value cannot be changed 0x02 Value area of the parameter transgressed 0x03 Defective parameter sub index 0x04 Parameter is not an array 0x05 Incorrect parameter data type 0x06 Change access with value not equal to zero which is not permitted 0x07 Change access on a descriptive element which cannot be changed 0x09 No descriptive text available 0x11 Request cannot be performed in the present system status 0x14 Impermissible value 0x15 Reply telegram is too long 0x16 Impermissible parameter address 0x17 Illegal format 0x18 Number of parameter values is inconsistent 0x19 Request for a non existent axis Table 4 7 Error numbers MSD Servo Drive User Manual PROFIBUS PROFINET Acyclic data transfer MOOC ID no CA65645 001 Date 01 2015 4 4 Examples of request and response telegrams Write word Req Ha No PNU PNU Sub Sub No Value Value Re fer Axis Pa Attr ae F t SE ID aa Ed is Ele high low high low orme values high low 0 2 0 1 0x10 0 1 3 0x96 0 0 0x42 1 0 7 Table 4 8 ID 2 Change Parameter Attr Ox10 value PNU P 0918
27. 483648 2147483647 0 Yes 132 Position reference value ramp mode written via PROFIBUS COM_DP_TargetPos P 1275 2147483648 2147483647 0 Yes 132 Position reference value direct mode written via PROFIBUS COM DP ActPos1 P 1276 2147483648 2147483647 0 No 132 Actual position of 1st position encoder COM_DP_PosVelocity P 1277 2147483648 2147483647 0 Yes 132 Velocity reference value ramp mode written via PROFIBUS COM_DP_Acc P 1278 0 OxFFFF 100 Yes U16 Acceleration reference value ramp mode written via PROFIBUS COM DP Dec P 1279 0 OxFFFF 100 Yes U16 Deceleration reference value ramp mode written via PROFIBUS COM DP Controlword2 P 1280 0 OxFFFF 0 Yes U16 2nd control value not used at first COM DP Statusword2 P 1281 0 OxFFFF 0 No U16 2nd control word initially not used COM_DP_Bus_Timeout P 1283 0 4294967295 5000 Yes U32 Bus timeout COM DP SignalList write P 1284 0 65535 0 No U16 List of parameters that can be used as process data reference values COM DP SignalList Read P 1285 0 65535 0 NO U16 List of parameters that can be used as process data actual values COM DP TMaxScale P 1286 0 2000 1000 Yes U16 Online torque scaling COM DP TMaxPos P 1287 0 2000 1000 Yes U16 Positive online torque scaling COM DP TMaxNeg P 1288 0 2000 1000 Yes U16 Negative online torque scaling PROFINET parameters COM PN StationName P 1289 DRIVE YES string Station name of PROFINET device COM PN StationIP P 1290 O FFFFFFFF 0
28. 648 Actual position i 2 2147483647 COM DP ActPos1 Status word 2 COM DP Statusword2 Actual velocity 116 COM_DP_ActSpeed 32768 32767 11610565535 I 5 6 7 8 9 Table 7 2 Example of assignment of the slave master process data channels The following parameters must then be set for position control mode 1 CON_CfgCon 300 PCON 3 Parameter list gt Motor control This parameter is used to change operation mode The setting PCON Position Control Mode means that the drive is in position control mode 2 CON_REF_Mode 301 RFG 0 Basic settings This parameter is used to set the position reference input mode The position reference value can be preset directly or via a ramp generator The setting RFG Ramp Function Generator means that the position reference value is preset via a ramp generator 3 MPRO_CTRL_SEL 159 PROFIBUS 7 Basic settings This parameter is used to set the control location In this instance the control location is selected as PROFIBUS Parameter liste Motion Profile Parameter List gt Motion Profile MSD Servo Drive User Manual PROFIBUS PROFINET 54 4 MPRO REF SEL 165 PROFI 9 settings This parameter is used to configure the reference selector In this instance the reference values are taken from PROFIBUS Parameter list Motion Profile gt Basic Once these settings have been made communication can be established between th
29. 918 Instructions for use of the device keypad are given in the MSD Servo Drive Operation Manual A setting via the device keypad is only valid if an address above 125 is set via the coding switches e g OxFF i e S1 S2 F Note All setting modes require the device to be restarted in order to activate the new address MOOG ID no CA65645 001 Date 01 2015 Commissioning Single Axis Compact Select the mode of addressing 4 Bus address parameter P 0918 By way of bus address parameter P 0918 COM DP Adress a valid decimal address between 0 and 125 is set 5 Setting via device keypad A valid hexadecimal address between 0 and 125 is set using the device keypad on the submenu Fb The preset value is written to bus address parameter P 0918 Instructions for use of the device keypad are given in the Single Axis Compact Operation Manual Note All setting modes require the device to be restarted in order to activate the new address The following functions and displays are available Display of device state The device state is displayed when the control supply is switched on If no input is made via the keypad for 60 seconds the display switches back to the device state Display of device error state If a device error occurs the display immediately switches to show the error code Parameter setting display PA Reset device parameters to their factory setting Ethernet IP address setting display IP Set Ethernet IP
30. 925 COM_PN_Sign_of_life_limit the error message 32 03 Profinet IRT Sign of Life error is triggered and bit 4 in parameter P 0953 COM_DP_Warning is set If cyclic transfer is interrupted and then re established the error counter parameter P 1296 COM_PN_Sign_of_life_err_cnt is cleared and the warning bit 4 in parameter P 0953 COM_DP_Warning is reset MOOG ID no CA65645 001 Date 01 2015 Cyclic data transfer Normal operation Sign of Life e e e e un uan 2 c e 50000 bh J gt a g ce ecc n KA w w e qn Ga qn 2 D ca ce c ce ce eco amp a Cn Q ce e COM DP Controlword2 COM DP Statusword2 3 3 d gt 0 01 0 02 Time s COM DP Controlword2 COM DP Statusword2 COM PN Sign of life err cnt ae eo ca n p uus uo aw jo BIS Nd WOO 72 Figure 3 2 Normal operation Sign of Life MSD Servo Drive User Manual PROFIBUS PROFINET 25 Cyclic data transfer MOOG ID no CA65645 001 Date 01 2015 3 Sign of Life errors triggered TEE COM DP Controhvord2 COM_DP_Statusword2 D 0 01 0 02 0 03 0 04 Time s COM DP Controlword2 COM DP Statusword2 COM PN Sign of life err cnt Figure 3 3 3 Sign of Life errors triggered The value of the master is not increased in three cycles The error counter is increased by the value 10 in each of these cycles When the master generates the Sign of Life again the error
31. A zero point offset can be set via parameter P 0525 ENC HomingOff Parameter list Motion Profile gt Homing 6 5 Homing method The reference cam signal can be optionally linked to one of the digital inputs Inputs ISDOO to ISDO6 are available In homing to a limit switch the digital input must be selected with the available selection parameter LCW 5 for a positive or LCCW 6 negative limit switch In homing to a cam the selection parameter HOMSW 10 must be chosen see parameters P 0101 P 0107 Parameter Function name setting Designation in MDA 5 MPRO_402_ Meee P 2261 HomingMethod Digital inputs 12 Setting the machine Move motor axis to machine reference point reference point 11 Approach block left with Approach block direction of travel zero pulse left with zero pulse Approach block right Approach block direction of travel 10 with zero pulse right with zero pulse 9 Approach block left Approach block direction left Table 6 1 Parameters for limit switch homing MSD Servo Drive User Manual PROFIBUS PROFINET 49 Homing MOOC Parameter ID no CA65645 001 Date 01 2015 Parameter MSD Servo Drive User Manual PROFIBUS PROFINET 50 MH Designation in MDA 5 Function MPRO 402 TE P 2261 HomingMethod Digital inputs 8 dE OR GORGE Approach block direction right
32. Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 77 Cyclic data transfer MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 22 PROFIBUS Referred to PPO i ms PROFINET PROFINET E re identifier Evaluation by special identifier format figure 3 6 Table AK type module ID IRT module ID ID Hex Slave Master 0xCO OxD9 0x75 0x175 26 words input output data consistent overall length PZD channel OxD9 OxF3 0xCO 0x76 0x176 4 words input output data consistent overall length PKW channel 0xD9 26 words input output data consistent overall length PZD channel 0xD9 OxF3 0xCO 0x78 0x178 4 words input output data consistent overall length PKW channel OxDD 32 words input output data consistent overall length PZD channel OxDD 0xCO OxDD 0x77 0x177 32 words input output data consistent overall length PZD channe OxDD Table 3 5 Listing of identifiers 3 1 3 Parameter channel PKW Some PPOs offer an additional cyclic parameter channel This channel allows drive parameters to be read and written 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte PKE 1 word IND 1 word PKW1 1 word PKW2 1 word The parameter consists of a total of four words the parameter identifier PKE 1 word the subindex IND 1 word subindex 0 in the parameter must be addressed with 1 and the parameter identifier value which occupies the data rang
33. ELTS Meaning Comments Field name Data type Value Meaning Comments Request refe Unsig 0x00 Reserved rence ned8 0x01 0XFF Request ID Unsig 0x00 Reserved ned8 0x01 Request parameter 0x02 Change Parameter 0x03 0x03F Reserved 0x40 0x7F Manufacturer specific 0x80 0xFF Reserved Response ID Unsig 0x00 Reserved ned8 0x01 Request parameter 0x02 Change Parameter 0x03 0x3F Reserved 0x40 0x7F Manufacturer specific 0x80 Reserved 0x81 Request parameter 0x82 Change Parameter 0x83 0xBF Reserved OXCOROXEE Manufacturer specific Axis No Unsig 0x00 Device Representative Zero single axis ned8 0x01 0xFE Axis Number 1 254 OxFF Reserved No of Parame Unsig 0x00 Reserved Limited ters ned8 0x01 0x27 Quantity 1 39 by DPV1 0x28 0xFF Reserved Telegram length Attribute Unsig 0x00 Reserved ned8 0x10 Value 0x20 Description 0x30 Text 0x40 0x70 Reserved 0x80 0xF0 Manufacturer specific No of Elements Unsig 0x00 Special Function Limited ned8 0x01 0xEA Quantity 1 234 by DPV1 OxEB OxFF Reserved Telegram length Parameter Unsig 0x0000 Reserved Number ned16 0x0001 Number 1 65535 OxFFFF Subindex Unsig 0x0000 Number 1 65535 ned16 OxFFFF Table 4 6 User data MOOC ID no CA65645 001 Date 01 2015 Acyclic data transfer Field name Data type VELTS Meaning Comments Format Unsig 0x00 Reserved ned8 0x01 0x36 Data Types 0x37 0x3F Reserved 0x40 Zero 0x41 Byte 0x42 Word 0x43 Double Word 0x
34. Format l values high low 0 0x81 0 1 0x44 1 0 0 Table 4 17 Format error 0x44 parameter value 0 incorrect parameter number Write parameter values array No Value 0 Value 0 Value 4 Value 4 ee Axis is Attr No Ele PNUhigh PNUlow Subhigh Sublow Format 7 T ara s SLS Refer ID 0 2 0 1 0x10 5 3 0x93 0 0 0x42 5 3 CI 0 0 Table 4 18 ID 2 Change Parameter Attr Ox10 value PNU P 0918 0x396 format word 0x42 LETT high Low high low Parameter values 0x03C7 0x04F6 0x04F6 0x04F6 O OK response Parameter P 0915 now contains the entries for the parameter values No standard telegram smaller than 10 may set up in the device because then it could not be overwritten as a remedy set PPO5 MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 2B Acyclic data transfer Acyclic data transfer MOOG ID no CA65645 001 Date 01 2015 Read parameter values array Read assigned process data reference values Attr No Ele Value 0 ValueO Value 4 Value 4 high Low high low 0 2 0 1 0x10 5 3 C7 0 0 Table 4 19 ID 1 Attr 0x10 PNU P 0915 0x593 OK response AXIS No EM No Value O Value 0 Param Values high low 0 1 0 1 0x42 3 3 0xC7 Value 1 high Value 1 Low OxF6 Value 2 high MSD Servo Drive User Manual PROFIBUS PROFINET Value 2 Low OxF6 Value 3 high Value 3 Low Value 4 high Value 4 low Table 4 20 ID 1 Format 0
35. MOOC MSD Servo Drive User Manual PROFIBUS PROFINET Single Axis Servo Drive Compact Single Axis Servo Drive Standard Multi Axis Servo Drive System MOOG ID no CA65645 001 Date 01 2015 This document details the functionality of the following devices Single Axis Servo Drive Compact Single Axis Servo Drive Standard Multi Axis Servo Drive System PROFIBUS PROFINET User Manual for MSD Servo Drive ID no CA65645 001 Rev 3 0 Date 01 2015 Subject to technical change without notice The German version is the original of this Operation Manual MSD Servo Drive User Manual PROFIBUS PROFINET 2 Subject to technical change without notice The contents of our documentation have been compiled with greatest care and in compliance 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 develooment of our products Information and specifications may be changed at any time For information on the latest version please refer to drives support moog com How to use this document Dear user This manual is intended for use by project engineers commissioning engineers and programmers of drives and automation solutions involving the PROFIBUS PROFINET tieldbus It is assumed that you are already familiar with at least one of these fieldbuses on the basis of appropriate training and reading of the relevant lit
36. MSD Servo Drive User Manual PROFIBUS PROFINET 19 Cyclic data transfer Cyclic data transfer MOOC ID no CA65645 001 Date 01 2015 In the drive parameter list there are two signal tables containing all the process data that can be cyclically read and written for the PROFIBUS communication DPVO All possible writeable process data signals can be found in signal table P 1284 COM_DP_ SignalList_Write and all possible readable process data signals can be found in signal table P 1284 COM DP SignalList Read The most important readable and writeable parameters are also documented in chapter 6 The writeable process data signals can be configured in signal table S 0915 COM_DP_ PZDSelectionWrite The available number of writeable process data items is determined by the selected PPO type The readable process data signals can be configured in signal table S 0915 COM_DP_PZDSelectionRead The available number of readable process data items Is likewise determined by the selected PPO type When using standard telegrams the process data signals in the signal tables are automatically configured by the firmware Note The content of this column applies only to PROFIBUS A maximum of 15 process data signals can be mapped Both single and double words can be used The user specific drive telegram types are described by a configuration identifier ID in the GSD file This describes the structure of the cyclic user data based on a special
37. MSD Servo Drive User Manual PROFIBUS PROFINET 55 Examples of commissioning with manufacturer specific telegrams Examples of commissioning with manufacturer specific telegrams ID no CA65645 001 Date 01 2015 MOOC 74 Examples for setting the user factor group The positioning instructions should be input in degrees so that 360 corresponds to one revolution of the motor 655 36 increments per revolution of the motor The velocity should be preset in revs per minute rev and the acceleration in rev sec This gives the following values P 0270 Encoder resolution 655 36 incr rev P 0271 Position numerator 1 rev P 0272 Position denominator 360 POS P 0274 Velocity factor 1 rev min SPEED P 0275 Acceleration factor 1 60 rev sec sec ACC P 0284 Position unit string Degree P 0287 Velocity unit string rev P 0290 Acceleration unit string rev sec POS User unit for position SER SPEED User unit for velocity EACC User unit for acceleration 7 5 Speed control with PPO 2 The following section describes how the drive can be quickly and easily commissioned in speed control mode First embed GSD file MOOGOA33 gsd in the PROFIBUS configuration phase and then select PPO type 2 PPO type 2 consists of a PKW channel 8 bytes and six process data channels 12 bytes The process data area can be freely configured using this manufacturer specific telegram That means that the
38. No U32 IP address of PROFINET device COM PN StationSubnet P 1291 O FFFFFFFF 0 No U32 Subnet mask of PROFINET device COM PN StationMAc P 1292 0 5 O FF 0 No U8 Station MAC address of PROFINET device COM PN StationMAc P 1292 6 11 O FF 0 No U8 Station MAC address of PROFINET device COM_PN_StationMAc P 1292 12 17 O FF 0 No U8 Station MAC address of PROFINET device COM_PN_ProductFamily P 1293 DRIVE No string Product family COM_PN_IM P 1294 0 FFFF 0 No U16 Identification and maintenance data IM COM_PN_DefaultGateway P 1295 O FFFFFFFF 0 No U32 Gateway factory setting COM_PN_Sign_of_life_err_cnt P 1296 0 65535 0 No U16 Display of current error counter PROFIBUS parameters only Table 8 1 PROFIBUS and PROFINET parameters Parameter P 1994 is based on the description of the standard Profile Guidelines Part 1 Identification amp Maintenance Functions 1 2 Oct 2009 Order No 3 502 for amp M record O 9 Appendix 91 Glossary AK Application data set Diagnostic data DP Master MW Parameter data PKW PNU PROFIdrive mode PZD Slave SPM State machine MOOC Appendix Request identifier Factory pre defined data set for solution of typical applications The master reads the diagnostic data from the slave and so permits a centralised response to slave malfunctions Distributed peripherals The master controller which handles communication Flag word The PKW parameter channel is used to tran
39. OT NO 0 E EO oases A E ESS 8 Erto AA LAS LES wreycostnsnsecrtadvesoeotati Fer SEE IUEL KNEE nose TAN ERE ELSE iN 31 MSD Servo Drive User Manual PROFIBUS PROFINET 63 MOOC ID no CA6564 001 Date 01 2015 Example CSSS E EE E A S EET RE Examples Tor cCOmmis ONING serre T sedans Examples for setting the user factor group Factor group parameters nne nenne nnne nne nennen nane nnn OO Cy d qe OA TE A EE A A EE EE Further COCUI SN TOME nc means ea rene G ECT he 5 esis ener bed exces cU PUPPI RIEN DI RESO UHR ROUEN NUUS CORE c m COPA M RRRCNCRR erp HE TE H Homing ACCCIEN AION uens a nd sene OO P POPPING NOI How to use this MO RE Eoo Henu E e E E E EA MSD Servo Drive User Manual PROFIBUS PROFINET 64 E E E A EE E Er TU 20 Tee E E E NE TREE CT 24 SOS OO oo E 0 55 Modu a a Acree peed EEEE E EE E EEA EE 7 J OO E E E E 38 JOO mode coniorming tO Profile sareari renen AREAN DAERA ii 38 Jog mode manufacturer specifiC sssssssssssem 38 Jog mode reference parameters 2 0 0 cee ccc cece ee eeeceeceeeeeeeeeeeeeeeaeeeeeeceeaaaneeeeeees 39 L EE DT ING NEST 14 HD T 11 15 IGA E NEN uum 51 M Mappable parameters 58 M
40. P 0980 0 65535 0 No U16 This parameter describes the defined parameters in the MSD Servo Drive COM_DP_ModifiedParameter P 0990 0 65535 0 No U16 LAS parameter describes all the parameters in the MSD Servo Drive that are not set to the default values COM DP CtrlConfig P 1267 0 65535 0 Yes U16 This parameter describes the function of each bits in the control word parameter P 0967 COM DP RefJogSpeed P 1268 4294967296 to 4294967295 0 Yes 132 This parameter contains the reference velocity 1 in jog mode COM DP RefJogSpeed2 P 1269 4294967296 to 4294967295 0 Yes 132 This parameter contains the reference velocity 2 in jog mode COM_DP_RefSpeed P 1270 32768 32767 0 Yes 116 Speed reference value written via PROFIBUS COM_DP_ActSpeed P 1271 32768 32767 0 No 116 Actual speed Table 8 1 PROFIBUS and PROFINET parameters MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 59 PROFIBUS PROFINET parameters PROFIBUS PROFINET parameters MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 60 Parameter name Value range Default value d Data type Meaning COM_DP_RefTorque P 1272 1100 22707 0 Yes 116 Torque reference value written via PROFIBUS COM DP ActTorque P 1273 32768 32767 0 No 116 Actual torque COM DP RefPos P 1274 2147
41. ROFINET cable Blinking Pre Operational Siemens order number 6XV1840 2AH10 i m gt Device in pre operational phase Yellow i i ae SIMATIC NET IE FC TP STANDARD CABLE GP 2X2 Single Flash Safe Operational Siemens article description PROFINET TYPE A Device in safe operational phase Table 2 11 Recommended PROFINET cable On Operational gt Device operational Table 2 12 Meanings of LEDs 2 2 5 PROFINET option card displays Two LEDs are mounted on the PROFINET option card indicating the current operating Status of the module The following tables set out the operating states of the PROFINET option card based on the various illumination sequences LED H2 red Status LED H1 green Reset after power on PROFINET test and initialisation End of PROFINET test and initialisation Table 2 13 Self test during diagnostics LED H1 green LED H2 red Status PROFINET ready no cyclic data exchange with PROFINET master PROFINET ready cyclic data exchange with PROFINET master taking place PROFINET software being loaded PROFINET master flash function 3 seconds flashing 3 seconds lit steadily ial Table 2 14 Operational diagnostics MOOC Commissioning ID no CA65645 001 Date 01 2015 2 2 6 GSDML file PROFINET Description of file name File name GSDML Vx xx Moog MSD Servo Drive date xml Vx xx GSDML version Dat
42. SOS iON peters ete a ed 39 49 Speed control circuit and associated control parameters 36 Speed CON Ol iii ue TP 56 CO IDE E E E AAE ENIE E EE E EE E 57 Standard telegram 4 creme aeann aaa RETENE 17 18 Ee EE EE PER 9 SOTO AEE E E EEEE E E E OEE E 30 RS E E E E 7 YS IBI SAG Ga en ere E P hauls abou E EOT 37 System slale OS 2 das osse stederne area A Ea a A 38 Y TRG a Se artes eue 61 TORO 9 U IIS FOO SEE EET E MEME MEE EM CE ME 9 D S A a PR E E AE 31 Wi pers eei aa ene a ee 19 MSD Servo Drive User Manual PROFIBUS PROFINET 66 V NO AIS EET ER EEN 30 VOVIT O RT 56 sq EU T 56 W VA CVO EO stores 24 35 Word TOM L tm ae mn ee ae reset ee es ee 28 Z OO pointoo e baca A dated EEN REE ERE ERE REE ERE 49 MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 67 TAKE A CLOSER LOOK Moog solutions are only a click away Visit our worldwide Web site for more informati on and the Moog facility nearest you MOOC Moog GmbH Hanns Klemm StraBe 28 D 71034 B blingen Phone 49 7031 622 0 Telefax 49 7031 622 100 www moog com industrial drives support moog com Moog is a registered trademark of Moog Inc and its subsidiaries All quoted trademarks are property of Moog Inc and its subsidiaries All rights reserved O 2015 Moog GmbH Subject
43. address and subnet mask Fieldbus settings display Fb Set fieldbus address for example 2 1 6 PROFIBUS option card displays Three LEDs are mounted on the PROFIBUS option card indicating the current operating status of the module The following tables set out the operating states of the PROFIBUS option card based on the various illumination sequences MSD Servo Drive User Manual PROFIBUS PROFINET 11 Commissioning MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 2 LED 3 green LED 2 red Status 24 7 GSD file PROFIBUS Reset after power on The device master data file contains the summary of the device features in a Standardised form The device features include the device name the bus timing the available extended services and the selectable modules telegram types In order to use ASIC RAM test and initialisation End of ASIC RAM test and initialisation the various telegram types the GSD file must be integrated in the configuration phase of the PROFIBUS network As well as the standard Profidrive profile this file also contains Table 2 5 Self test during diagnostics manufacturer specific telegram types LED 3 green LED 2 red Status Seeking baud rate after power on without bus connection Seeking baud rate after bus connection has already been made Waiting for parameterisation data Communication Data exchange without acyclic master class 2 conn
44. arameter COM DP CtrlConfig is set to 1 the drive acts in conform to the profile profile 4 1 page 84 13 Jog mode can only be activated when the motor is stopped Bits 4 to 6 of the control word are O When bit 8 is changed to 1 the drive adopts the velocity in parameter COM DP RefJogSpeedt1 When bit 9 is changed to 1 the drive adopts the velocity in parameter COM DP RefJogSpeed2 When bits 8 and 9 are set there is no change the old reference value is retained 5 3 3 Jog mode reference parameters Parameters P 1268 COM_DP_RefJogSpeed1 and P 1296 COM_DP_RefJogSpeed2 are of type Int32 and mappable as process data The acceleration and deceleration are used in jog mode by parameters P 1278 COM DP ACC and P 1279 COM DP DEC These parameters are of type uint16 and mappable in the process data NAOCDCS ID no CA65645 001 Date 01 2015 Profidrive operation modes 5 4 Speed control application class 1 In speed control mode the speed control reference value can be influenced using 3 bits in the master control word 3 2 STWA bit 4 True Activate ramp generator False Reset ramp generator STW1 bit 5 True Enable ramp generator False Freeze ramp generator STW1 bit 6 True Activate reference False Deactivate reference 0 _ 0 a Reference value for closed speed circuit Reference RFG COM DP RefSpeed speed RFG Ramp Function Generator Figure 5 3 Speed control Setting the control word bit 4 allo
45. aster CODO WONG accsuisseutenticotenintitestissuutadt nt tet Eee AE dn hg NERSES 40 Meanings CD he RANEE ERT 14 Measures Tor your SSI a AAR EEEN AREER ESRR 1 SEE e NR T D E tae cake 24 N NO OE PR iua E EE 30 Normal eoperaton SIgn Of Life msnen rener treere 25 NS SR rr 30 Number of Values cc cccececcccccuccccccucececcucuceucucuceueucseueuceseseueueuseectasenensueness 30 O DOSAGE EE m 11 15 Operational CIAGINOS IGS a feos asit D ie dr re 12 15 Si VOT OS ca tc este caer ee nce ne ee ese ee 35 P PATATE ies UT 29 Parameter channel PR 23 Parameter SCOR nee een nee ee 24 Parameter identifier PKE mm mmn nnns 23 Parameter HUND ER eoe texas ET oss iU eui EARNE 30 Parameter process data objects 17 19 Parameter respONSE MC L m 30 Parameters for limit switch homing ccccceeecccceee eee ecceceeeeueeeeeeeeeeuaeeeeeneas 49 REE AE TE 17 PROS EET ER ER 17 PTS NN a se V AE EEE ETE 17 diss MT EE E E E E E E E E E 4 EE OR 9 Pin assignment of the RJ45 sockets nec 0 nd ene cernis 13 24 17 2 23 POS IOA COMTI NREERNEERTCNRDRRRRNRRRRE 42 49 FOSC CORRE A 44 Position contolhwith PPO Descer Rede broren 53 Postioning Ace AWN NEN EIE ETE 39 POON VELOC SEE E eesctagnestoesaheeneesteeanace sesame 55 POS HOR UR NEN m 56 PPO 17
46. counter is decreased by the value 1 in each cycle MSD Servo Drive User Manual PROFIBUS PROFINET 26 4 Sign of Life errors triggered with error reaction ER eee TE are ee Se a ee ee ee Se NTM EN TE Es USB a ee EE MEE Essi HOT OM DP Controtword2 COM DP Statusword2 88 RO de cR Mare AT PV ADR RAE HAR beaver EE EAN ey eee ree EN SEEN RUD Rr wav ALTA Ce AA To Fr AERA Ae Y YOU ee eee eee a ELLE VAR IR LL AL EN A E REN AHEAD Ci oos EA YA Le ded Time s COM PN Sign of life er cnt Figure 3 4 4 Sign of Life errors triggered with error reaction The value of the master is not increased in four cycles if a value 4 is entered in parameter P 0925 COM PN Sign of life limit The error counter is increased by the value 10 in these cycles When the error counter reaches the maximum value 40 the error reaction is triggered 4 Acyclic data transfer The PROFIdrive profile includes the Base Mode Parameter Access model for this It is used for both PROFIBUS and PROFINET PROFIBUS parameter access In addition to cyclic data communication which is intended as the default for quick updating of I O process data acyclic services are offered for one off events They offer the facility to read or write parameters acyclically for example so as not to impede cyclic data traffic Telegram type SD2 as set out in the following table is used for the PROFIBUS DP extension DPV1 LE LEr SD DA SA DSAP SSAP DU FCS
47. drive operation modes 35 5 1 Profihet ODSFatIOHn friOdBSasenass exei tasrkenitid eunian a AENEAN 35 Bus Speed control circuit and associated control parameters 36 5 2 Drive state Mache RR OTT UE 37 E ouo ERR 38 il Jog mode manufacturer specifiCc u u u dsssssssseueeeueeeeeeeererererere reen sr rer 38 oe Jog mode conforming to profile 38 9 329 Jog mode reference parameters sssssssssseee ees 39 5 4 Speed control application class 1 39 5 4 1 Master contol WONG asics rie mec me 40 5 4 2 Drive status so 41 5 5 Position control application class 3 een iA Gedde 42 5 5 1 Position control circuit and associated control parameters 44 MSD Servo Drive User Manual PROFIBUS PROFINET 3 MOOG ID no CA65645 001 Date 01 2015 EAN a de ne 49 Gal JBDryesconteolled MINOR de a stet en aes 49 BE FOR VION RTT 49 63 Foma eee SY AOU TET ne au onde 49 GA Zero DOIN OSSE nn ei mea ea at Eks 49 65 Homing IN lac da a a a OKEE EEEO 49 66 Relerence Carm SNL ranted Rer sed cR TED IHR bea n dads 51 Examples of commissioning with manufacturer specific LES e AIS PS ovr eser oret A sx Eb e DURS CHE Sd EDEN SEER FEER 53 TA o io isst VI PROS Em 53 Ta Weide cene t ET TU T TEE 54 7 3 Conversion of reference and actual values via the factor group parameters 54 7 4 Examples for setting the user factor group 56 7 5 Speed control wi
48. e Date of creation of the GSDML file Example GSDML V2 25 Moog MSD Servo Drive 20120523 xml NOTE The GSDML file contains the data for the MSD Servo Drive DAP2 and the Single Axis Compact DAP3 The required DAP Data Access Point must be selected during configuration MSD Servo Drive User Manual PROFIBUS PROFINET i MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 16 3 Cyclic data transfer 3 1 Parameter process data objects PPOs Communication between a class 1 master and the MSD Servo Drive is essentially established in three phases Firstly the MSD Servo Drive is parameterised with the current bus parameters monitoring times and drive specific parameters phase 1 In the configuration phase a configuration sent by the master is compared with the actual MSD Servo Drive configuration phase 2 Once these two phases have been completed successfully the cyclic user data traffic starts phase 3 The various telegram types parameter process data objects PPOs are made available in the GSD file These PPOs form the basis of the configuration phase The project engineer knows from the GSD file how many bytes are required for the input and output data tor PROFIBUS communication between the master and the MSD Servo Drive and can use this information to make settings in a configuration tool As well as the standard telegrams in accordance with the PROFIdrive profile t
49. e master and drive 2 Controlled homing The touchprobe function enables controlled homing of an axis In this variant the drive remains in interpolating mode The touchprobe function is used to record the position of the reference pulse For more information on the touchprobe function refer to the Device Help in the Touchprobe chapter 7 3 Conversion of reference and actual values via the factor group parameters Conversion of reference values and actual values via the factor group parameters In positioning applications the input of reference values and the return of actual values is usually performed in application specific user units mm degrees The reference and actual values of the drive are converted with the so called factor group parameters Parameter liste Motion profile gt Standardisation units Users can choose between three different groups of parameters All three groups have the same task which is to convert the user units to the fixed internal variables of the servocontroller The first factor group is based on the CiA402 standard The parameters of this group are described in detail in the CANopen specification CiA402 The second factor group is under the heading Sercos The parameters of this group refer to the Sercos specification SERCOS interface Version 2 4 February 2005 The parameters of this group are also described in detail in the cited specification The third factor group is called user spec and i
50. e PKW1 1 word to PKW2 1 word The parameter identifier is represented bit by bit in the following table Request or response identifier value range 0 15 Parameter number value range 1 4095 Table 3 6 Parameter identifier PKE The following tables list the request master and response slave identifiers Request identifier Function 0 No request 1 Request parameter value 2 Change parameter value word 3 Change parameter value double word 4 Read parameter description 5 6 Request parameter value array ii Change parameter value array word 8 Change parameter value array double word Table 3 7 Request identifier AK Master gt Slave MOOG ID no CA65645 001 Date 01 2015 Cyclic data transfer Request identifier Function 0 No response 1 Parameter value sent word Parameter value sent double word Parameter description sent Parameter value array sent word Parameter value array sent double word SN Dm Oo FR ND Request not executable see error no Table 3 8 Response identifier AK Slave gt Master In the case of response identifier 7 the error number sent to the drive from the master is shown in the range PKW1 to PKW2 The following table explains these error numbers Error Statement 0 Impermissible PNU 1 Parameter cannot be changed 2 Lower or upper parameter
51. ection Yellow LED lit Communication Data exchange clear state Incorrect parameterisation data Incorrect configuration data ICME ELE Communication Data exchange with acyclic master class 2 connection Table 2 6 LED 1 yellow Status Operational diagnostics Device is exchanging data Table 2 7 Data exchange 2 2 PROFINET 2 2 2 Pin assignment of the RJ45 socket The contacting of eight pin RJ45 sockets is subject to the EIA TIA 568A B standards Note Table 2 9 below shows the pin assignment with the corresponding colour code for the For technical data and information on topologies and maximum cable lengths see EIA TIA 568B standard chapter 9 2 i The two standards differ only in that the two wire pairs 2 and 3 are interchanged 221 Connections Pin Colour Cable wire pair Function i i i 1 White orange 2 TxData The connections of the PROFINET interface are shown in table 2 8 LEDs H17 H17 act as status indicators The PROFINET cable is connected to the RJ45 sockets X47 X48 2 sie 2 Tias The two PROFINET connecting sockets are freely configurable in their communication 3 White green 3 RecvData direction 4 Blue 1 Unused The PROFINET interface features a 2 port Multiport PHY Physical Layer Transceiver 5 White blue Unused supporting the following functionality 6 Green 3 RecvData Autonegotiation automatic detection of t
52. edFac nmm Irev min SPEED The quotient of parameters MPRO FG Num and MPRO FG Den describes the ratio of user unit to motor revolutions It also allows any gear ratios or feed constants to be P 0275 MPRO FG AccFac Acceleration factor rev sec sec ACC incorporated P 0284 MPRO FG PosUnit Position unit String P 0285 MPRO FG PosExp Position exponent Positioning velocity P 0286 MPRO FG PosScaleFac Position factor P 0287 MPRO FG SpeedUnit Velocity unit String Positioniergeschwindigkeit stern rev COM DP REFSpeed UserEinheit MPRO_FG_SpeedFac i min Min UserEinheit P 0288 MPRO FG SpeedExp Velocity exponent P 0289 MPRO FG SpeedsScaleFac Velocity factor The parameter MPRO FG SpeedFac offers the facility to change the number of decimal P 0290 MPRO FG AccUnit EMT mm points for the positioning velocity or the unit of positioning velocity P 0291 MPRO FG AccE Accelerati t TNR see eee Aaa Positioning acceleration P 0292 MPRO_FG_AccScaleFac Acceleration factor P 0293 MPRO_FG_TorqueUnit Torque unit String Positionierbeschleunigung EX COM DP Acc UserEinheit MPRO FG AccFac es em sec sec UserEinheit P 0294 MPRO FG TorqueExp Torque exponent P 0295 MPRO FG TorqueScaleFac Torque factor The parameter MPRO FG AccFac offers the facility to change the number of decimal Table 74 Factor group USER points for the positioning acceleration or the unit of positioning acceleration MOOG ID no CA65645 001 Date 01 2015
53. ee nie 11 E a o E mueble SUM ne DEI EAE 61 Application Cass 39 PU O eo ee E A 30 PIS o E E E E 30 B Base Mode Parameter Access data format 29 BUS SPA L OR A E A E nes n ten 10 US EA AAU Net verges sees E T 10 C CE eee REM 9 CS SR a ee tn 17 MOOC ID no CA6564 001 Date 01 2015 Coding S NACE ER TETTE TT 11 COR ON m 8 9 53 aera Caon iom T a a 17 OT MOON aN 98610 2 SNC EET ETE 12 CONGSCUOBNS e nen ee eee rt ee ot en PN LE EE LUMINE ID EE 9 13 Connections and user CONTIONS 22 studere d eon ambit setae n Rt era Mateo tubos 9 aere eae TMNT NE TO 54 Control DararTi amp IB S oscsscsc ne nsax tard opa np RXRS pda enken enken iet RUP quA MURUS 36 44 45 Conversion of reference and actual values 54 CIC dala Ui af Bl essei enne teria tede sueta ines ademas Used cde damuaE S QE 17 Cydic data trancter DPYO A ErE EN ENEEEnEE 17 D Daa SC E E eect cese 12 BE SR LR IAE ETS NL NN TE Em 29 pz c n 2 Description or pin assigne euis oner se ate tet 9 Device setliNg 8 OUI SO WOM M RT EM 28 BO REI eR USS E E 28 Ere ACTAS AO pei AEEA EREE A du dM EE E OD PIRE LEE CRUS 8 Drive controlled NOMING aa E 49 Drive state machine stosccacacscatnensctasacannesbanivanniiesaianitisuiseedsinbe yuiteatianeinieadsncaiondiaastanaiciainas 34 Dave I SAC Le PR TEE 41 E ER
54. erature We assume that your drive has already been commissioned if not please first refer to the user manual MOOG ID no CA65645 001 Date 01 2015 1 General introduction 1 2 Commissioning 3 Cyclic data transfer 3 4 Acyclic data transfer 5 Operation modes 5 6 Homing 7 Examples of commissioning 7 8 PROFIBUS PROFINET parameters 8 Appendix Glossary Index x MSD Servo Drive User Manual PROFIBUS PROFINET 3 MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 4 Pictograms Attention Misoperation may result in damage to the drive or malfunctions Danger from rotating parts Drive may start up automatically Table of contents EEC E EE E N 7 1 1 Measures for your Safety iieeeeeeeeessssseseeeseeesees 7 MM eee M ain manie tement 7 1 3 SYSLEMMEQUIFEMENTS ccccccindeccvacesnnesessanatlnsassisansstinedencdeadantawdnncecdaeedloeceatswiinaweesanannwies 7 L Further documentation scesero mnene aion Enn EE aE EEEa 7 15 Helpline Support amp SOEVICO EEG are in aa 8 2 KOMMISSION BE a eatercotentonansensetdtenmgupcaneeasemcdsinyaciemuatesses 9 BN PROMIS da oc a eut non matt 9 2 1 1 Connections and USEF controls asus retra rami onn reru tuat rta 9 2 1 2 Pin assignment of the D Sub socket 9 2 1 3 Specification of the PROFIBUS cable 10 2 1 4 SPEI M HU CL
55. esponse with the requested data Master DPV1 Parameter Request Write req DB47 with data parameter request Write res without data Read req DB47 without data Parameter Processing Read res without data Read req DB47 without data Read res with data parameter response Figure 4 1 DPV1 read request This transfer format is Big Endian Motorola the highest byte is transmitted first MSD Servo Drive User Manual PROFIBUS PROFINET 28 Word format 0 Byte 1 Byte High byte Low byte Double word format High byte Low byte High byte Low byte High word High word Low word Low word The data unit in the table PROFIBUS SD2 telegram for DPV1 services of telegram type SD2 can be split into five areas Req id 1 byte This is the function number of the DPV1 service This describes for example whether a parameter is to be read or written More detailed information can be found in the table headed Data unit assignment Slot 1 byte DPV1 slaves consist of a number of physical or virtual slots The drive is triggered by addressing a slot following which the slot address is not evaluated Index 1 byte The index contains the address of the data area in which the slave makes available the data for parameter access In accordance with ProfiDrive this is specified with the fixed data area number 47 Length 1 byte Indicates the length of the user data that follow In the
56. he drive This telegram type consists of two input words and two output words as shown in the following table PZD number 1 2 Reference values STW1 SATZANW Actual values ZSW1 AKTSATZ MSD Servo Drive User Manual PROFIBUS PROFINET LZ Cyclic data transfer MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 18 Standard telegram 8 is a defined telegram type for positioning with the option to preset a positioning velocity It consists of five input words and five output words as shown in the following table PZD number Reference values XSOLL_A STW2 NSOLL_A Actual values XIST_A ZSW2 NIST_A Standard telegram 9 is a defined telegram type for positioning It consists of six input words and five output words as shown in the following table PZD number 1 2 3 4 5 6 Reference values STW1 TARPOS A STW2 VELOCITY A PZD number 1 4 5 Actual values ZSW1 XIST_A ZSW2 NIST_A Table 3 2 Standard telegram 9 Every standard telegram in the device is described in the GSD or GSDML file as appropriate by a configuration identifier ID based on the PROFIdrive profile The following table lists these identifiers for the selected standard telegrams PROFIBUS PROFINET Telegram type Data range Identifier ID Module ID IRT module ID 2 output words 0xC3 OxC1 OxC1 Standard telegram 1 and 2 input words OxFD 0x00 0x01 0x01 0x0101 2 output words 0xC3 OxC1 OxC1 Standard te
57. he functionality of the opposite 7 White brown 4 Unused interface 8 Brown 4 Unused Auto Crossing no cross over cables are required so through going wiring is Table 2 9 Pin assignment of the RJ45 sockets assured Auto Polarity the polarity of the Receive cable is automatically adjusted in the event of a wiring error RecvData and RecvData 3 4 Front panel Comments A MSD Servo Drive Single Axis Compact H17 Status indicator LED green H16 Status indicator LED red 12345678 XA7IXA8 PROFINET cable connection Figure 2 4 RJ45 socket Table 2 8 PROFINET option card MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 15 Commissioning Commissioning MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 14 2 2 3 Specification of the PROFINET cable 2 2 4 Meanings of LEDs For the cabling Moog recommends using the following hardware The two LEDs at the RJ45 sockets have the following meanings PROFINET RJ45 connector LED Function Meaning Siemens order number 6GK1901 1BB10 2AA0 Off no link IE FC RJ45 PLUG 180 2X2 RJ45 CONNECTOR NO AK ID ANOTE device Siemens article description 10 100MBIT S WITH ROBUST METAL HOUSING amp G over On Link FC CONNECTION i2 Miis Linked to another device no data exchange Table 2 10 Recommended PROFINET connector Blinking Activity c Data exchange active Off Initialisation gt Device in initialisation phase P
58. here are additionally user specific telegram types In addition to the process data channel PZD some user specific telegrams have a parameter channel PKW 3 1 1 Standard PROFldrive telegrams The table below firstly lists the standard PROFldrive telegrams supported by the MSD Servo Drive The following table explains the abbreviations assigned in the standard telegrams to specific process data channels The process data channel abbreviated as PZD is grouped word by word MOOC Cyclic data transfer ID no CA65645 001 Date 01 2015 Abbreviation Designation Number of words STW1 Control word 1 1 STW2 Control word 2 1 ZSW1 Status word 1 1 ZSW2 Status word 2 1 NSOLL_A Rotation speed reference 1 NIST_A Actual rotation speed 1 SATZANW Set selection from driving set table 1 AKTSATZ Current set selection from driving set table 1 XSOLL_A Reference position 2 XIST_A Actual position 2 TARPOS_A Reference target position 2 VELOCITY_A Reference velocity 2 E DIGITAL Input 1 A DIGITAL Output 1 Table 3 1 Abbreviations Standard telegram 1 is a defined telegram type for speed control It consists of two input words and two output words as shown in the following table PZD number 1 2 Reference values STW1 NSOLL A Actual values ZSW1 NIST A Standard telegram 7 is a defined telegram type for driving set selection There are a total of 16 driving sets available for selection in t
59. le 2 4 Recommended PROFIBUS cable l E m EE 2 1 4 Bus termination If the MSD Servo Drive is initially at the end of the bus system a plug with an integral Figure 2 2 Sub D 9 pin plug bus termination terminating resistor Rt should be used In addition to the cable terminating resistor in accordance with the EIA485 standard a pull down resistor Rd against the data reference potential DGND and a pull up resistor Ru against VP are provided This ensures a defined no load potential of 1 1 Volt between pins 3 and 8 In a made up PROFIBUS cable these resistors are all incorporated as standard in the PROFIBUS plug and the terminating resistor can be activated using a switch on the PROFIBUS plug The following figure shows a Sub D 9 pin plug bus termination 21 5 PROFIBUS address setting MSD Servo Drive Select the mode of addressing 1 Coding switches S1 and S2 By way of the two coding switches a hexadecimal address between 0 and 125 Is set Figure 2 3 Coding switches for PROFIBUS address 2 J Bus address parameter P 0918 By way of bus address parameter P 0918 COM DP Adress a valid decimal address between 0 and 125 is set A setting via this parameter is only valid if an address above 125 is set via the coding switches e g OxFF i e S12S2 F 3 Setting via device keypad A valid hexadecimal address between 0 and 125 is set using the device keypad on the submenu Fb The preset value is written to bus address parameter P 0
60. legram 7 and 2 input words OxFD 0x00 0x07 0x07 0x0107 5 output words 0xC3 OxC4 0xC4 Standard telegram 8 and 5 input words OxFD 0x00 0x03 0x08 0x0108 6 output words 0xC3 0xC5 OxC4 Standard telegram 9 and 5 input words OxFD 0x00 0x09 0x09 0x0109 Table 3 3 Identifiers 3 1 2 User specitic PPOs As well as the supported standard telegrams there are additional user specific parameter process data objects PPOs The following PPOs are also transmitted cyclically and in addition to the process data channel PZD in some instances contain a parameter channel PKW enabling access to the drive parameter values 1 PKE IND PKW PKW STW REFERENCE 1 2 ZSW ACTUAL 2 PKE IND PKW PKW STW REFERENCE PZD PZD PZD PZD 1 2 ZSW ACTUAL 3 4 5 6 2 STW REFERENCE ZSW ACTUAL 4 STW REFERENCE PZD PZD PAD PZD ZSW ACTUAL 3 4 5 6 5 PKE IND PKW PKW STW REFERENCE PZD PZD PZD PZD PZD PZD PZD PZD 1 2 ZSW ACTUAL 3 4 5 6 7 8 9 10 STW REFERENCE PZD PZD ZSW ACTUAL 3 4 PKE IND PKW PKW STW REFERENCE PZD PZD 1 2 ZSW ACTUAL 3 4 STW REFERENCE PZD PZD PZD PZD PZD PZD ZSW ACTUAL 3 4 5 6 7 8 PKE IND PKW PKW STW REFERENCE PZD PZD PZD PZD PZD PZD 1 2 ZSW ACTUAL 3 4 5 6 7 8 STW REFERENCE PAD PZD PZD PZD PZD PZD PZD PZD ZSW ACTUAL 3 4 5 6 i 8 9 10 PPO3 is the standard telegram 1 Table 3 4 User specific parameter process data objects MOOG ID no CA65645 001 Date 01 2015
61. length PZD channel 5 OxF3 0x69 0x169 4 words input output data consistent overall length PKW channel OxF9 10 words input output data consistent overall length PZD channel OxF3 0x6A 0x16A 4 words input output data consistent overall length PZD channel OxF3 Ox6B 0x16B 4 words input output data consistent overall length PKW channel OxF3 4 words input output data consistent overall length PZD channel OxF7 0x6C 0x16C 8 words input output data consistent overall length PZD channel OxF3 Ox6D Ox16D 4 words input output data consistent overall length PKW channel 0xF7 8 words input output data consistent overall length PZD channel OxF9 Ox6E Ox16E 10 words input output data consistent overall length PZD channel 0xCO OxCD Ox6F Ox16F 14 words input output data consistent overall length PZD channel OxCD OxF3 0xCO 0x70 0x170 4 words input output data consistent overall length PKW channel OxCD 14 words input output data consistent overall length PZD channel OxCD 0xCO OxD1 0x71 0x171 18 words input output data consistent overall length PZD channel OxD1 OxF3 0xCO 0x72 0x172 4 words input output data consistent overall length PKW channel 0xD1 18 words input output data consistent overall length PZD channel 0xD1 0xCO OxD5 0x73 0x173 22 words input output data consistent overall length PZD channel OxD5 Table 3 5 Listing of identifiers MOOC Cyclic data transfer ID no CA65645 001
62. meters P 0101 to P 0107 Parameter list l O configuratione Digital inputs When homing to limit switches the digital input must be selected as a positive limit switch using selection parameter LCW 5 or a negative limit switch using selection parameter LCW 6 When homing to cams the parameter HOMSW 10 must be selected The following table shows the necessary assignment of the digital inputs for the respective homing methods 6 6 Reference cam limit switch The homing method is selected by parameter P 2261 MPRO_402_HomingMethod Parameter list gt Motion Profile gt Homing For more information refer to the MSD Servo Drive Device Help on our product DVD MOOG ID no CA65645 001 Date 01 2015 Homing MSD Servo Drive User Manual PROFIBUS PROFINET 51 MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 52 Examples of commissioning with manufacturer specific telegrams 7 1 Position control with PPO 5 The following section describes how the drive can be quickly and easily commissioned in position control mode First embed GSD file MOOG0A33 gsd in the PROFIBUS configuration phase and then select PPO type 5 PPO type 5 consists of a PKW channel 8 bytes and 10 process data channels 20 bytes The process data area can be freely configured using this manufacturer specific telegram That means that the desired reference and actual values can be mapped to a defined process data
63. nents and contacts electrostatic discharge may destroy components MOOG ID no CA65645 001 Date 01 2015 General 1 2 Introduction PROFIBUS based on standards and its modular interfaces Thanks to its use of a single standardised non application dependent communication protocol PROFIBUS provides solutions for the process industry as well as in a wide range of motion control applications PROFINET permits enhanced system wide connectivity adding to tried and proven PROFIBUS technology for applications specifying fast data communication in combination with industrial IT functionality Thanks to its Ethernet based communication PROFINET meets a wide range of requirements from data intensive parameter assignments to synchronised data transfer Communication for all applications is routed through just one cable Whether for a simple control task or for highly dynamic motion control of drive axes TCP IP based communication in the PROFINET network enabling extensive system diagnostics in a control station or over the Internet Is implemented in parallel with real time communication 1 3 System requirements PROFIBUS PROFINET configuration program installed PROFIBUS PROFINET device description file for corresponding field device installed 14 Further documentation Instructions for commissioning the drive device PROFIBUS user organisation PROFldrive PROFIDrive Technology for PROFIBUS and PROFINET Version
64. o Drive User Manual PROFIBUS PROFINET 46 6 Homing 6 1 Drive controlled homing Drive controlled homing is activated with a rising edge of bit 11 in the master control word A falling edge aborts an incomplete homing run The completed homing is indicated in the status word by bit 11 being set Homing Is executed according to the settings as described in the following subsections If the drive is run in interpolating mode parameter P 0300 CON_CfgCon is switched trom interpolating mode IP to profile generating mode 6 2 Homing velocity The homing velocity is specified by parameter P 2262 MPRO_402_HomingSpeeds in the parameter editor Parameter list gt Motion Profile gt Homing The user can specify two different homing velocities 1 SpeedSwitch Velocity when moving to the limit switch 2 SpeedZero Velocity when moving to the zero point 6 3 Homing acceleration Homing acceleration is set via parameter P 2263 MPRO 402 Homing Acc in the parameter editor Parameter list Motion Profile gt Homing MOOG Homing ID no CA65645 001 Date 01 2015 6 4 Zero point offset Absolute encoders e g SSI Multiturn encoders are a special feature in homing because they establish the absolute position reference directly Homing with these encoders therefore requires no movement and under certain conditions no current to the drive Furthermore the zero point must be balanced Type 5 is particularly suitable for this
65. position positioning velocity or positioning acceleration lead directly to a new driving job If bit 13 is not set a new driving job is activated only by means of a positive or negative edge of control word bit 6 If bit 6 in parameter P 1267 COM DP CtrlConfig is set the driving job is only activated on a positive edge This corresponds to the last PROFIDrive profile 4 1 If feed hold is reset while a positioning command is active the drive is braked to a standstill on a ramp and switches to the Intermediate Stop state The current driving job is not executed until the feed hold is set again A driving job can be cancelled by resetting control word bit 4 In this case the drive is also braked to a standstill and set to the Control active state Additionally from the initial state 5 a homing run can be triggered by control word bit 11 MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET Protidrive operation modes MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 44 5 5 1 Position control circuit and associated control parameters P 0329 Index 2 P 0378 P 0378 P 1516 IA CON_IP_FFMode Torque CON_IP_ACCFFTF ICONLIP_TFFScaleh 21 SCD Jsuri P 1270 internal MretFF COM_DP_RefSpeed d P 1272 P 0320 CON SCON Kp Hr P 0379 Index 1 P 0372 P 0375 COM DP RefTorquei pr CON IP FFMode Speed CON JP SFFTF CON IP SFFScale n P03
66. rror state reference values from the 12 Standstil PROFIBUS master are ignored detected g Quick stop can be triggered by various circumstances The parameter P 2218 MP_QuickStopOC allows the type of quick 3 Power 6 Power 14 Error stop to be selected stage on stage disabled reaction ended Ready Error System state 3 System state 8 2 Quick Stop and spin 7 Quick Stop or spin out 11 Spin out of true activated Table 5 3 System states 7 Spin out of true Quick Stop activated Quick stop option code Meaning out efftrue deactivated of true activated i 0 Disable drive function 15 Error reset C 18 ENPO disabled ne Men J 1 Slow down on slow down ramp S 2 Slow down on quick stop ramp 1 DC link OK 8 DC link too low 3 Slow down on the current limit 4 Slow down on the voltage limit Not ready FEE System state 1 J 5 Slow down on slow down ramp and stay in quick stop ins 6 Slow down on quick stop ramp and stay in quick stop tart 7 Slow down on the current limit and stay in quick stop System initialisation in progress 8 Slow down on the voltage limit and stay in quick stop System state 0 Table 5 4 Quick stop option codes Figure 5 2 General system state machine control via PROFIBUS and PROFINET MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 37 Pro
67. s user specific group Since this factor group is not described in detail elsewhere use of parameters of this group is illustrated in the following by means of an example The user can select the factor group using the parameter MPRO FG Type Parameter number P 0283 MPRO FG Type Parameter name Meaning Factor group selection 0 STD 402 1 SERCOS 2 USER Table 7 3 The parameters of the USER factor group are listed in the table below Parameter number Parameter Parameter name Meaning These define the internal resolution of the unit for Position rev Velocity rev min Acceleration rev sec sec The units are automatically defined by the profiles themselves according to CiA402 or Sercos The units can be assigned manually in the User setup The parameters for unit and exponent refer to the display and have no effect on the standardisation of the variables themselves The following three formulae describe the conversion of user units into the units used internally in positioning mode They refer to reference position velocity and acceleration P 0270 MPRO_FG_PosNorm Sensor resolution incr rev MPRO_FG_Num rev Sollposition rev COM_DP_REFPos UserEinheit P 0271 MPRO_FG_Num Numerator position rev TS MPRO FG Den UserEinheit P 0272 MPRO FG Den Denominator position POS P 0274 MPRO FG Spe
68. setting SCON Speed Control Mode means that the drive is in speed control mode 1 CON REF Mode 301 RFG O Parameter list gt Motion Profile gt Basic settings This parameter determines the mode of reference input The position reference value can be preset directly or via a ramp generator The setting RFG Ramp Function Generator means that the speed reference value is preset via a ramp generator MOOC ID no CA65645 001 Date 01 2015 2 MPRO_CTRL_SEL 159 PROFIBUS 7 Parameter list gt Motion Profile gt Basic settings This parameter is used to set the control location In this instance the control location is PROFIBUS 3 MPRO_REF_SEL 165 PROFI 9 Parameter list gt Motion Profile gt Basic settings This parameter is used to configure the reference selector In this instance the reference values are taken from PROFIBUS Once these settings have been made communication can be established between the master and drive 7 5 1 Speed input All factor group parameters are set to default values The speed reference value can then be preset scaled to the motor rated speed So a value of 16384 corresponds to a speed reference value of 100 of the motor rated speed The drive can then be operated in speed control mode using the control word section 3 2 MSD Servo Drive User Manual PROFIBUS PROFINET Dy Examples of commissioning with manufacturer specific telegrams Examples of commissioning with manufacturer
69. sfer parameters cyclically to and from the drive device Parameter identifier value Parameter number Configuration of the process data channel conforming to the PROFIdrive profile In contrast to EasyDrive mode the system states are changed by defined control sequences The system state machine defined in the PROFIBUS standard specifies the individual system state transitions Process data The process data channel contains the functions Apply control and status Input reference values and Display actual values A slave is a station on the PROFIBUS DP bus which in contrast to the master responds only to the requests directed to it Spontaneous message This describes the transitions between the various system states A state transition is triggered by a defined event such as a control sequence or the setting of an input ID no CA6564 001 Date 01 2015 92 Technical data The PROFIBUS PROFINET implementation in MSD Servo Drive conforms to the PROFIdrive profile PROFIBUS PROFldrive Profile Version 4 0 dated August 2005 The profile is not implemented in full however Data transfer Max transfer rate Automatic baud rate detection Max cable length Network topologies Programmable PROFIBUS address Cyclic exchange of reference and actual value data Acyclic data exchange Writing and reading drive parameters Synchronisation of all con nected drives in Freeze and Sync mode Fieldbus stations
70. specific telegrams MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 58 7 6 Mappable parameters Parameter number Parameter name lite i s P 1284 P 1285 Length P 0967 COM_DP_Controlword X X 1 P 0968 COM_DP_Statusword X 1 P 1280 COM_DP_Controlword2 X X 1 P 1281 COM_DP_Statusword2 X 1 P 1270 COM_DP_RefSpeed X X 1 P 1271 COM_DP_ActSpeed X 1 P 0121 MPRO_Input_State X 1 P 0143 MPRO_Output_State X 1 P 1274 COM_DP_RefPos X X 2 P 1276 COM_DP_ActPos X 2 P 0207 MPRO TAB Actldx X X 1 P 1275 COM DP TargetPos X X 2 P 1277 COM_DP_PosVelocity X X 2 P 1278 COM_DP_Acc X X 1 P 1279 COM DP Dec X X 1 P 1287 COM_DP_TMaxPos X X 1 P 1288 COM_DP_TMaxNeg X X 1 Table 7 7 Mappable parameters Further mappable parameters can be found in signal tables P 1284 COM DP Signal List Write and P 1285 DP_SignalList_Read Parameter List gt Fieldbus gt PROFIBUS DP 8 PROFIBUS PROFINET parameters The following table describes the available parameters Change Parameter name Value range Default value able Data type Meaning PROFIBUS PROFINET parameters COM_DP_PZDSelectionWrite P 0915 0 65535 967 Yes U16 This parameter allows incoming process data to be linked to specific device parameters Parameter P 1284 indicates which parameters can be entered Subindex 0 contains the firs
71. start determines whether controller enable is flank triggered 0 or status dependent 1 Parameter List gt Motion Profile gt Basic Settings Table 5 5 System state transitions 5 3 5 3 1 MSD Servo Drive User Manual PROFIBUS PROFINET 38 Jog mode Jog mode manufacturer specific Bits 8 and 9 of the control word permit jog mode in speed operation When bit 8 of parameter COM DP CtrlConfig is set to O the drive acts as follows jog mode manufacturer specific When bit 8 is changed to 1 the drive adopts the speed in parameter P 1268 COM DP _RefJogSpeed1 If bit 9 is additionally set to 1 the value of parameter P 1269 COM DP RefJogSpeed2 is used as the reference setpoint If bit 9 is set to O again COM DP RefJogSpeed1 is again used as the reference If bit 8 is set to O while bit 9 is still set to 1 no change occurs When bit 9 is changed to 1 the drive adopts the negated speed in parameter COM DP RefJogSpeed1 The direction of rotation is reversed as a result If bit 8 is additionally set to 1 the negated value of parameter COM DP RefJogSpeed2 is used as the reference setpoint If bit 8 is set to O again COM DP RefJogSpeed1 is again used as the reference If bit 9 is set to O while bit 8 is still set to 1 no change occurs If negative references are set a negated velocity becomes positive again Jog mode can only be activated when the motor is stopped Jog mode conforming to profile When bit 8 of p
72. t process data word PZD1 etc COM_DP_PZDSelectionRead P 0916 0 65535 968 Yes U16 This parameter allows outgoing process data to be linked to specific device parameters Parameter P 1285 indicates which parameters can be entered Subindex 0 contains the first process data word PZD1 etc COM DP Address P 0918 0 126 126 Yes U16 Station address of the inverter COM DP TelegramSelection P 0922 0 65535 0 Yes U16 COM DP SignalList P 0923 0 65535 0 No U16 This parameter lists all mappable parameters and signals for parameters P 0915 and P 0916 COM PN sign of life limit P 0925 0 65535 0 Yes U16 Number of approved SOL Sign of Life errors until error shutdown Type U16 0 Oxfffe Oxffff switch off COM DP Warning P 0953 0 OxFFFF 0 No U16 This parameter returns warning messages from PROFIBUS These include bus timeout and PLC stop mode COM DP Baudrate P 0963 9 6 45 45 kbits s 9 6 kbit s No U16 Current Baud rate for bus communication COM_DP_Deviceld P 0964 0 65535 0 No U16 This parameter is for device identification COM DP ProfileNo P 0965 0 65535 0 NO U16 Profile number not supported in the first step COM DP Controlword P 0967 0 OXFFFF 0 Yes U16 Control word for the internal state machine COM DP Statusword P 0968 0 OxFFFF 0 No U16 Status word for the internal state machine COM_DP_DataStore P 0971 0 255 0 Yes U16 This parameter permits storage of data in the non volatile memory COM DP DefinedParameter
73. t If this bit is set the relevant parameter value can be varied externally only so as to be set to zero 12 Parameter value was changed to a value If this bit is set the parameter value is different from the factory settings different from the factory setting 11 Reserved 10 Additional text array can be called up 9 Parameter cannot be written 8 Standardisation factor and variable This bit is set if the parameter is of a data attributes not relevant type that cannot be used to calculate any physical values e g data type string 0 7 Data type of the parameter value value Profi Drive table 9 Table 3 11 Identifier syntax MSD Servo Drive User Manual PROFIBUS PROFINET 24 3 2 Monitoring The MSD Servo Drive provides two options for monitoring cyclic communication 3 2 1 Watchdog Parameter P 1283 COM DP BUS Timeout can be used to configure a watchdog Parameter No Meaning Data type Watchdog for cyclic P 1283 LE communication COM DP BUS Timeout INT32 0 4294967295 ms Table 3 12 Watchdog The watchdog is activated after the first cyclic telegram and in the event of an error triggers error 32 1 if no cyclic telegrams are received in the time defined by parameter P 1283 COM DP BUS Timeout The value 0 in parameter P 1283 COM DP BUS Timeout deactivates the function 3 2 2 Sign of Life The Sign of Life function is implemented as per Profidrive profile 4 1 Parameter No
74. t identification 0 DFH Write NEG RES Write negative RES header Axis No No of Parameters n 2 1 Slot OOH FEH Slot number Attribute No of elements 3 2 Index 2FH Index 1st parameter address Parameter Number PNU 3 Length xx Length of user data max 240 bytes Subindex 4 n UserData XX User data m 4 6 n 1 Alarms are not currently supported nth parameter address Format No of values 4 6 n Table 4 3 Data unit assignment Values 4 6 n format_n amount n Table 4 4 Data unit assignment MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 29 Acyclic data transter Acyclic data transfer MOOC Base mode parameter ID no CA65645 001 Date 01 2015 Byte address response Request reference Response identification 0 Response mirror header Axis No mirror No of Parameters n 2 Format No of values 4 1st parameter value Value error code nth parameter value 4 format n amount n Table 4 5 Parameter response The user data are structured as follows Request reference The request reference is specified by the master and mirrored back by the slave in the response telegram Based on this reference the master can uniquely assign each response telegram to a request telegram A master changes the request reference with each new request Request ID This identifier essentially describes how the parameter is handled Currently
75. th PPO 2 msn HYPER FER En IMBRE FU eai nb Ye kk a atria 56 7 9 1 OG WO de 57 7 6 Mappable DAMES rrr pret Rea bra aa n pte tad rne abt auna ui diri etd 58 PROFIBUS PROFINE T parameters s ae ae mih 59 P DOCS denda ed DUE manie 61 ERI I N 61 M SC RE ees eee ent ene eee ese 61 MSD Servo Drive User Manual PROFIBUS PROFINET 1 General 1 1 Measures for your safety Servo drives of the MSD Servo Drive family are quick and easy to handle For your own safety and for the safe functioning of your device please be sure to observe the following points Read the Operation Manual first 1 L Follow the safety instructions Electric drives are dangerous Electrical voltages gt 230 V 460 V Dangerously high voltages may still be present 10 minutes after the power is cut So check that the power has been cut Rotating parts Hot surfaces Your qualification 9 In order to prevent personal injury and damage to property only personnel with electrical engineering qualifications may work on the device m Knowledge of the national accident prevention regulations such as VBG4 in Germany Knowledge of layout and interconnection of fieldbuses During installation observe the following instructions Always comply with the connection conditions and technical specifications Electrical installation standards such as cable cross section shielding etc Do not touch electronic compo
76. tidrive operation modes Protidrive operation modes MOOC System state transition Designation ID no CA65645 001 Date 01 2015 Description 0 Start Initialisation after boot up complete 1 UZK OK DClink voltage greater than switch on threshold 2 Quick stop and spin out of true Spin out of true deactivated gt STW Bit 1 1 deactivated Quick stop deactivated gt STW Bit 2 1 3 Power stage switched on Switch power stage on gt STW Bit 0 1 4 Controller enable Controller enable gt STW Bit 3 1 5 Control disabled Disable control gt STW Bit 3 0 6 Power stage blocked Disable power stage gt STW Bit 0 0 7 Quick stop or spin out of true Spin out of true activated gt STW Bit 1 0 activated Quick stop activated gt STW Bit 2 0 8 UZK too low Intermediate circuit voltage less than switch on threshold 9 Quick stop activated Activate quick stop gt STW Bit 2 0 10 Quick stop deactivated Deactivate quick stop gt STW Bit 2 1 11 Spin out of true activated Activate spin out of true gt STW Bit 1 0 12 Standstill detected Standstill was detected 13 Error Error event occurred can occur in any system state 14 Error reaction ended Error reaction ended e g error stop ramp 15 Error reset Reset error gt STW Bit 7 1 or by a rising edge of Enpo 16 Power stage blocked Power stage blocked can occur in any system status P Parameter P 0144 Auto
77. to technical change without notice The contents of our documentation have been compiled with greatest care and in compliance 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 informati on on the latest version please refer to drives support moog com ID no CA65645 001 Rev 3 0 Date 01 2015 Applicable from firmware version V2 20 01 The German version is the original of this Operation Manual
78. to terminating resistor Rotary coding switch to set the 6 VP Power supply for terminating resistor sal PROFIBUS address for the drive Ox S2 S1 RP Reserved for power supply via bus 8 cus RxD TxD N Send and receive data green X14 PROFIBUS cable connection 9 CNTR N Control signal for repeater Table 2 2 Description of pin assignment 1 MSD Servo Drive onl A The pin assignments highlighted in table 2 2 are necessary from the user s viewpoint Table 2 1 PROFIBUS option card The control signals used for the repeaters are optional and the power supply for the terminating resistors is provided by the device MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 9 Commissioning Commissioning MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 10 2 1 3 Specification of the PROFIBUS cable For the wiring Moog recommends using the following hardware l l PROFIBUS D Sub bus termination plug Vp 9 MOINS Siemens order number 6XV1 830 0EH10 Ru 390 Ohm l l Siemens article description PB FC EIA485 PLUG 180 AXIAL CABLE OUTLET RxD TxD P 3 B red Table 2 3 Recommended PROFIBUS D Sub bus termination plug Rt 220 Ohm RxD TxD N 8 i A green PROFIBUS cable MEN l Siemens order number 6GK1 500 0FC10 Ed EL l l Siemens article description SIMATIC NET PB FC STANDARD CABLE GP 2 WIRE SHIELDED GND 6 l l Tab
79. value limit transgressed 3 Defective sub index 4 Not an array 5 Incorrect data type 17 Request cannot be executed because of the operating status 18 Other error Table 3 9 Response identifier AK Slave gt Master Request identifier 4 can additionally be used to read a parameter description The parameter description contains relevant information on the parameter concerned The following table shows the subindices that can be used to access the individual parameter structure elements The subindex is preset only by byte 3 MSD Servo Drive User Manual PROFIBUS PROFINET 25 Cyclic data transfer MOOC ID no CA65645 001 Date 01 2015 Sub index Meaning Data type 1 Identifier ID V2 2 Number of field elements or string length Unsigned 16 3 Standardisation factor Floating point 4 Variable attributes Octet string 2 5 Reserved Octet string 4 6 Name only the first four bytes are sent Visible string 16 7 Lower limit value Octet string 4 8 Upper limit value Octet string 4 9 Reserved Octet string 2 10 ID extension Extension V2 11 PZD reference parameter Unsigned 16 12 PZD standardisation V2 Table 3 10 Parameter description The identifier subindex 1 in the parameter description identifies additional characteristics of the parameter concerned Table 3 8 sets out the meaning of the identifier Meaning Explanation 15 Reserved 14 Array 13 Parameter value can only be rese
80. ws the speed reference value to be taken over by the ramp generator The ramp generator can be enabled by setting control word bit 5 resetting it freezes the ramp generator again The input of the ramp generator is influenced by control word bit 6 If bit 6 is set the reference value is switched through If bit 6 is not set the reference value zero is transmitted MSD Servo Drive User Manual PROFIBUS PROFINET 39 Protidrive operation modes MOOC Master control word Operation mode Speed control ID no CA65645 001 Date 01 2015 Operation mode Position control 0 Apply relative positioning immediately after start enable 1 Speed mode Bit 14 0 Normal positioning 1 Speed mode Bit 13 0 Not used New reference values activated by toggling master control word bit 6 1 Not used New reference values are applied directly Special function Feed hold is disabled Bit 12 0 Not used Positioning reference value absolute 1 Not used Positioning reference value relative Bit 11 0 Not used Stop homing 1 Not used Start homing Bit 10 0 No access rights via PLC 1 Access rights via PLC Bit 9 0 Jog mode 2 off Jog mode 2 off 1 Jog mode 2 on Jog mode 2 on Bit 8 0 Jog mode 1 off Jog mode 1 off 1 Jog mode 1 on Jog mode 1 on Bit 7 Table 5 6 Master control word MSD Servo Drive User Manual PROFIBUS PROFINET A0 Operation mode Speed control
81. x42 34 5 Profidrive operation modes 5 1 Profinet operation modes The devices of the MSD Servo Drive families support the following operation modes Speed control jog mode Position control jog mode Speed control application class 1 Position control application class 3 Position control interpolating mode Operation modes are selected by standard telegram selection in the master or by using tree telegrams and configuring the following parameters Parameter No Meaning P 0300 CON_CfgCon Set control mode P 0301 CON_REF_Mode Set reference profiles Table 5 1 Watchdog MOOG ID no CA65645 001 Date 01 2015 MSD Servo Drive User Manual PROFIBUS PROFINET 25 Profidrive operation modes Protidrive operation modes MOOC 5 1 1 P 1270 COM DP RefSpeed Figure 5 1 P no P 1278 COM DP Acc P 1279 COM DP Dec P 0167 MPRO REF OVR Speed control loop Parameter name P 0371 CON IP RefTF ID no CA65645 001 Date 01 2015 Speed control circuit and associated control parameters P 0402 CON SCON AddSRef P 0458 MOT Snom P 0328 CON SCON Smax P 0334 CON SCON SMaxPos P 0333 CON SCON SMaxNeg NL 9 Meaning P 0417 CON SCON SDilf P 1271 COM DP ActSpeed P 0320 CON SCON Kp P 0321 CON_SCON_Tn P no P 0325 CON SCONFilterFreq P 0326 CON SCONFilterAssi P 0327 CON SCONF ilterPara P 0351 CON LSCALC TF Grpn S

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