MSD Analog Input-Output Option Card
Contents
1. P2760 0 1 P2761 0 1 and P2762 0 1 the input weighting can be set The Sub P2760 TOPT_AIO_IN Scale ThUpper Upper scaling Defining the output indexes 0 are valid for analog input ISA02 while the Sub indexes 1 are valid for analog threshold value in 20 input ISA03 mA i EPR 0 ANAO Value for input Reasons for the need of changing the weighting can be ISA02 TFP ES 1 ANA1 Value for input e Change the weighting to meet the limiting range 4 20 mA gt 0 100 ISA03 e g Torque limiting sensor scaling P2761 TOPT_AIO_IN Scale ThLower Zero scaling Defining the input ee as threshold value of the lower e Change the weighting to meet the speed position loop command range zero threshold in 4 20 mA gt 100 e g reference scaling mA 0 ANAO Value for input The following illustration shows how the weighting function works ISA02 j Output 1 ANA1 Value for input ISA03 P2762 TOPT_AIO_IN_Scale_ThZero Lower scaling Defining the output 100 r threshold value in lower P2760 upper zero threshold scaling 20mA i entered in 0 ANAO Value for input ISA02 1 ANA1 Value for input P2761 SaPo reshold ISA03 entered if mA Analog P2762 lower 20ma input mA scaling zero i scaling threshold entered in 100 Weighting of analog inputs MOOG MSD AIO Option Card 9 MOOG QE Niro 3 5 Wire break detect ion For the 4 20 mA analog2. block A specific error reaction can be programmed via PLC 7 ServoHaltAndL Notify error block Block power stage block ock power stage protect enable against restart 8 WaitERSAnd Notify error block Block power stage reset only Reset power stage and by switching the 24 V control reset only via switching off on control voltage 24 V voltage off and back on Specific2 Notify error reaction is forced by external control unit Error reaction external 3 FaultReactionOption Code Notify error reaction as The error reaction is based on the value set in object given by fault_ 605Eh Fault reaction option P2768 AlO_OUT_Scale Scale factors for analog outputs 0 OEA02 Scale factor Scale factor for OEA02 1 OEA03 Scale factor Scale factor for OEA03 P2769 AIO_OUT Filter Filter time for analog outputs Funetion 0 OEA02 Filter time Filter time OEA02 ee Cee Toe i OEA03 Filter time Filter time OEA03 Coa P2765 8 oan P2770 AlO_OUT_Values Values of analog outputs or A 7 P2770 at DAC Th 2 5 O M 0 OEA02 Value DAC Value of OEA02 at DAC o 1 OEA03 Value DAC Value of OEA03 at DAC Lo i Processing analog Outputs on Option Card analog channel OEA02 and OEA03 P2750 AIO_IO_Type Analog Output selector 10V current vol
3. 3 002 Application Manual MDA Moog DRIVEADMINISTRATOR 5 CA79186 001 CA79186 002 User Manual OPM Moog MSD Servo Drive CA65642 001 CA65642 002 Operation Manual MOOG Table Of Contents Table Gre y 29 carrera tne tern ener rere err intr ayina ser rr ter 3 TPA estes eriesie ieee Sesevade lac eave desewneedieeetacededeuededxteved dates 4 2 Interface description ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 4 2 1 Technical data and pin assignment eee eeeeeeeeeeeeeeeeeeeeeeeetetseetseaeseeeseneenseeeees 4 3 Configuration Analog Inputs ceceeeeeeeeeeeeeeneeeeeeeees 5 3 1 Cascading of analog iNPUts ee eeeseteteteteteeeeeeeesteseteteterererssssassesesensesseneees 5 3 2 Analog IMPUS seriye aen rerea ane Caur Eae CEEE ANAE CEE ENEE RETES 5 3 3 Calibration of Analog INpUtS ss sesseseeeseessesssrserseresresrerresrerrerrsnrertnrenresrenrenrerrerrerrre 8 3 4 Weighting ys eresessyeesrersyeerssronosue rosvo rtre ssbsb raU PENON SENAN A REKS TERE NANNE VNR EKARPEN KEEVA 9 3 5 Wire break detection sereseir sein n n ENRE S 10 4 Analog O10 5 0 commen peereenne enema er ene erent yr aene se peerereer erty eer 11 MSD AIO Option Card 3 MOOG 1 Availability This function is available for the following MSD Servo Drive devices MSD Servo Drive Single Axis System G392 xxx X7X XXX G395 xxx xX7X XXX From Rev C From 123 xx xx MSD AIO Option Card 4 2 Interface description 2 1 Technical dat
4. MOOG MSD Servo Drive Specification Analog Input Output Option Card Description of Basic Functionality MOOG MSD Analog Input Output Option Card Id no CB59508 001 Rev 1 1 Date 06 2013 Applicable as from firmware version The English version is the original of this specification MSD AIO Option Card Technical alterations reserved 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 that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the latest version please refer to drives support moog com Audience This document does not replace the MSD Servo Drive Operation Manual Please be sure to observe the information contained in the For your safety Intended use and Responsibility sections of the Operation Manual Id no CA65642 001 For information on installation setup and commissioning and details of the warranted technical characteristics of the MSD Servo Drive series refer to the additional documentation Operation Manual User Manual etc This document provides information about how to connect and how to set up the analogue I O option card functions Referenced Documents APP Moog MSD Servo Drive CA65643 001 CA6564
5. a and pin assignment The following table describes the technical data of the analog inputs and outputs on the option card MSD Servo Drive Multi Axis System G393 xxx xX7X XXX G397 xxx X7X XXX From Rev C From 123 xx xx Figure Pin Description 1 Analog input IEA02 2 Analog input IEA02 3 Analog input IEA03 4 Analog input IEA03 5 Analog output OEA02 6 n c 7 Analog output OEA03 8 Analog output OEA03 9 Supply voltage 10 GND 11 n c 12 n c 13 n c 14 n c 15 Analog output OEA02 40V power supply for example can be used to power a force sensor Current inputs allow the possibility of cascading several inputs in a series connection By doing so the signal from a single sensor can be read by multiple devices at the same time On the MSD Servo Drive current inputs are available on both the option card and the drive s control card but with two important differences Firstly the ADC on the option card is a 16 Bit converter as opposed to 12 Bit on the control card Secondly with Als on the option card it s possible to select via software whether the inputs are voltage or current whereas on the control card this is not possible the user needs to decide beforehand whether to order a drive with voltage or current input This correct operation depends on the leakage currents of the used analog input ci
6. d to the control parameters are available for further use in MSD PLC or programming interface P0165 MPRO_REF_SEL Motion profile Reference selector selection ANAO 1 Via analog Selection of the analog channel reference source needs IEA02 03 only be set to this value in case of setting REFV 2 Otherwise this parameter needs to be set to the mating value of the command source e g fieldbus P2750 0 TOPT_AIO_Type Analog Mode selector of analog input current voltage for voltage or current mode input switch 0 Voltage mode 10 V 1 Current mode 0 20 mA MSD AIO Option Card 5 MOOG MSD AIO Option Card 6 values analog inputs calibration Depending on the parameterized control mode P 0300 CON_CfgCon a speed or a P2753 TOPT_AIO_IN_ScopeGain Extended analog Scopegains for torque can be set as the reference by setting above parameters accordingly inputs scope IEA02 03 Otherwise the inputs can be set also in that way so that the inputs are only processed gains and then are then available for the MSD PLC the programming interface or also just 0 IEA02 Scope gain Scope gain transmitted to a superimposed PLC via fieldbus IEA02 1 IEA02 Scope gain Scope gain Structure IEA03 n para paroi pines Selection P2754 TOPT_AIO_IN_ Raw Extended analog Raw valu
7. ed analog Zero scaling inputs Zero threshold for scaling treshold IEA02 03 0 IEA02 Zero scaling Zero scaling treshold threshold for IEA02 1 IEA03 Zero scaling Zero scaling treshold threshold for MOOG IEA03 MSD AIO Option Card 7 MOOG scope parameters IEAQ2_Val_F 5770 IEA02 input value filtred normalized IEAO3_Val_F 5771 IEAO3 input value filtred normalized IEAO2_Val_FC 5772 IEA02 input value filtered normalized compensated IEAO3_Val_FC 5773 IEA02 input value filtered normalized compensated IEAO2_Val_FCS 5774 IEA02 input value filtered normalized compensated scaled IEAO3_Val_FCS 5775 IEAO3 input value filtered normalized compensated IEAO2_RawVal 5776 IEAO2 raw data ADC IEA03_RawVal 5777 IEAO3 raw data ADC 3 3 Calibration of Analog Inputs With the calibration parameters P2752 SublD 0 to 3 it is possible to adjust the minimum and maximum level of the analog input The calibration has to be redone after a change of type selector parameter P2750 SublD 0 If the analog inputs are used as voltage inputs it is possible to define negative calibration values When using the analog inputs as current inputs it is not possible to set negative calibration values For the calibration it is necessary to be able to apply currents in the range of 0 to 20 mA for the current inputs For the voltage inputs it is necessary to be able to apply v
8. es of paseo Paro i Raw IEA02 03 ISAx P2754 P2756 P2757 values z 2 K 2 x 7 P2750 0 A 0 IEA02 Raw ADC Value Raw value of Hs IEA02 1 IEA03 Raw ADC Value Raw value of IEA03 Processing of analog inputs on Option Card analog channel ISA02 and ISA03 P2755 TOPT_AIO IN Fit Extended analog Filter time inputs Filter constants for time constants IEA02 03 0 IEA02 Filter time Filter time Parameter List constant constant IEA02 1 IEA03 Filter time Filter time constant constant IEA03 P2750 TOPT_AIO_IO_Type Extended analog Input selector P2756 TOPT_AIO_IN_Val_Norm Extended analog IEA02 03 values inputs outputs 10 V 0 inputs Values filtered norm current voltage 0 20 mA 1 filt norm switch 0 IEA02 Filtered 0 IEA02 03 Analog Value for input normalized value current voltage IEA02 03 1 IEA03 Filtered input switch normalized value P2751 TOPT_AIO_IN_FS Extended analog Function P2757 TOPT_AIO_IN_Val_Comp Extended analog IEA02 03 values inputs Function selector inputs Values filtered seletor IEA02 03 see filt norm comp normalized MSD compensated Application 0 IEA02 Compensated Manual Filtered 0 IEA02 Input function Function normalized value selector IAE02 1 IEA03 Compensated 1 IEA03 Input function Function Filtered selector IAE03 normalized value P2752 0 3 TOPT_AIO_IN_CAL Extended analog Calibration P2758 TOPT_AIO_IN_Val_Scaled Extended analog IEA02 03 values inputs AD values for in
9. inputs a wire break detection has been implemented Via a parameter it is possible to define the signal level which sets the drive to error mode and performs an error reaction on demand There are separate parameters available one for each analog input parameter P2763 0 1 P2763 CON_ANA_WireB Wire break Defining the detection level rk_Th threshold for the wire break condition 0 ANAO Value for input ISAOO 1 ANA1 Value for input ISA01 The failure reaction for this error detection is set via parameter P0030 Subindex 52 The following table gives an overview about the available failure reactions which can be set for the wire break error detection on an anlog input P0030 Sub 52 Error Reactions Programmabl e reaction in case of an failure Error Reaction MSD AIO Option Card 10 reaction code option code 4 ServoStop Notify error Quick stop waiting for execute quick restart of control stop and wait for restart of control 5 ServoStopAndLock Notify error Quick stop block power execute quick stage secure against stop and wait switching on for restart of control 6 ServoHalt Notify error Block power stage disable power stage P0030 Error Reactions Programmable Error Reaction Sub 52 reaction in case of an failure Ignore Ignore error The error is ignored Specific1 Notify error reaction is forced by internal PLC function
10. oltages for 0 and 10 V to the inputs As a first step it is necessary to do the calibration for the lower limit either 0 mA or 0 V depending on the selected input functionality In parameter 2752 Subindex 0 the calibration value for input IEA02 is entered while in parameter 2752 Subindex 3 the value for input IEA03 is entered The values shall be entered in the range of 2 32768 MSD AIO Option Card 8 After a new calibration value is entered an initialization of the drive must be performed This can be done by saving everything in the drive and perform a re start As a last step it is possible to check via parameter 2757 Sub0 for IEAO2 and Sub 1 for IEAO3 the actual input value As here the value 0 is applied to the input these parameters should show also the value 0 For the second calibration point it is necessary to apply either 20 mA or 10 V to the analog inputs depending on the used function In that case it is necessary to enter into parameter 2757 Sub1 for IEA02 or parameter 2757 Sub3 for IEA03 the mating calibration value so that parameters 2757 Sub0 and Sub1 are showing the value 1 as a maximum value Also here it is necessary to perform a re initialization after the calibration value has been changed We ghting The following table gives a description about the weighting parameters It is possible to change the weighting of the two analog inputs With the six parameters
11. puts Values filtered filt norm comp normalized P2763 TOPT_AIO_IN_WireBrk_Th Extended analog Wire break scaled compensated inputs Wire threshold for scaled break treshold IEA02 03 0 IEA02 Compensated 0 IEA02 Wire break Wire break Filtered detection detection normalized value treshold threshold for 1 IEA03 Compensated IEA02 Filtered 1 IEA03 Wire break Wire break normalized value detection detection P2759 TOPT_ AlO_IN_Offset Extended analog Offset for treshold threshold for inputs Offset IEA02 03 IEA03 0 IEA02 Voltage Current Voltage current P2764 TOPT_AIO_IN_Gain Extended analog Gain scaling for offset offset for IEA02 inputs Gain IEA02 03 1 IEA03 Voltage Current Voltage current scaling offset offset for IEA03 0 IEA02 Gain scaling Gain scaling for P2760 TOPT_AIO_IN_Scale_ThUpper Extended analog Upper scaling IEA02 inputs upper limits for 1 IEA03 Gain scaling Gain scaling for scaling limits IEA02 03 IEA02 0 IEA02 Upper scaling Upper scaling treshold threshold for IEA02 1 IEA03 Upper scaling Upper scaling treshold threshold for IEA03 P2761 TOPT_AIO_IN_Scale_ThLower Extended analog lower scaling inputs lower limits for scaling limits IEA02 03 0 IEA02 Lower scaling lower scaling treshold threshold for IEA02 1 IEA03 Lower scaling lower scaling treshold threshold for IEA03 P2762 TOPT_AIO_IN_Scale_ThZero Extend
12. rcuits The analog inputs on the MSD Servo Drive control card are as follows lin lout lt 50 WA For a correct operation it is recommended to place the analog inputs of the MSD Servo Drives at the end of the connection cascade The following principle circuit figure shows how the cascading has to be done for correct operation For this function the selections for the two channels have been increased to fulfil the extra needs of the 0 20 mA inputs To be able to specify reference set points for the control via the two analog inputs IEA02 and IEA03 or just process them for further use in the MSD PLC or the programming interface the following function selectors have to be set accordingly Setting of analog input IEA02 03 P 2751 0 P 2751 1 must each be set to REV 2 for analog command to the internal servo loops or to 1 for just processing them for use in the MSD PLC or the programming interface The functions usable in analog mode are indicated by a mark t24V Sensor MSD Servo Drive Servo Control Structure R 215 ohm Customer PLC Principle Description of Cascading analog 0 20 mA inputs MOOG P2751 AIO_IN_FS Function of Function of the analog input analog input IEA02 03 REFV 2 Analog The analog reference can be command passed on to the control 1 Processing The analog input is just analog input processed without being transferre
13. s may be changed at any time For information on the latest version please refer to drives support moog com www moog com industrial Id no CB59508 001 Rev 1 1 drives support moog com Date 06 2013 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 2013 Moog GmbH
14. tage 0 0 20 mA 1 output switch 1 OEA02 03 Value for input ISA02 P2765 0 5 Calibration Parameters for OEA02 03 P2766 TOPT_AIO_OUT_FS Extended analog Function selector for outputs Function analog outputs Selector 0 OEA02 Output function DFE 0 gt No function 1 OEA03 Output function SAGT z fai ae IRMS 8 actual rms current PARA 4 output value in P2770 ACTPOS 5 actual position VDC 6 actual DCbus voltage ACTPOS_MODULO 7 actual modulo position P2767 AlO_OUT_ Offset User Offset Defining the output value in lower zero threshold 0 OEA02 Current offset Offset for OEA02 1 OEA03 Current offset Offset for OEA03 MOOG NOTE It is possible to output an arbitrary value to the analog output from the internal PLC or via field bus by setting P2766 to 4 and by writing the desired value directly in P2770 MSD AIO Option Card 11 TAKE A CLOSER LOOK Moog solutions are only a click away Visit our worldwide Web site for more information and the Moog facility nearest you Technical alterations reserved The contents of our documentation have been compiled with greatest care and in MOOG compliance with our present status of information Moog GmbH Hanns Klemm StraBe 28 Nevertheless we would like to point that this document cannot always be updated D 71034 B blingen parallel to the technical further development of our products Phone 49 7031 622 0 Telefax 49 7031 622 100 Information and specification
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