ID Index Name / Setting Unit Description
P 207[0] - MPRO_TAB_ActIdx.Theteach-in
functioncanalsobeactivatedbyparameter
P 269[0] - MPRO_TAB_Ctrlbit0.
TAB0(23) Binarytableindex2^0
TAB1(24) Binarytableindex2^1
TAB2(25) Binarytableindex2^2
TAB3(26) Binarytableindex2^3
EGEAR(27) Start/Stopelectronicgearing
REFANAEN(28) Enableanalogreference
ENC(29) UseofISD05/ISD06asencoderinput(pulse
count,pulse/direction).
JOG_EXT_POS(34) JogPositive(extendedmode)
JOG_EXT_NEG(35) JogNegative(extendedmode)
FAST_DISC(36) FastdischargeofDClink(usingabraking
resistor)
LIM_OFF(37) Limitsoff(torqueandspeed):Torquescaling
(P 332[0] - CON_SCON_TmaxScale)and
speedlimiting(P 337[0] - CON_SCON_
SmaxScale)willbedisabled(ISDxx="high").If
thefunctionisnotparameterizedtoaninput
(ISDxx="low")thelimitsarealwaysactive.
LOCK_POS(38) Lockpositivedirection:Reversinglock,positive
direction(accessalsoviaMSDPLC).
LOCK_NEG(39) Locknegativedirection:Reversinglock,
negativedirection(accessalsoviaMSDPLC).
BRAKE_ON(40) Switchoffmotorbreakatonce
PWR_REL_DIRECT(41) Usedtomanuallyswitchtheprechargerelay
(with1000msdelay)Useonlyafterconsultation
withMoog.
SPINDLECLAMP_S1(42) Switch1input
SPINDLECLAMP_S2(43) Switch2input
SPINDLECLAMP_S3(44) Switch3input
SPINDLECLAMP_P(45) ClampingPressurizedinput
USER1(46) Testcase46
USER2(47) Testcase47
START_PRC(48) Startprocesscontroller
Table 9.2: Function selectors “Digital inputs” (continue)
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
235
9 Input/Output settings
9.2.3Hardwareenable–powerstage
MSD Servo Drive Single-Axis System, MSD Servo Drive Multi-Axis System and
MSDSingle-Axis Servo Drive Compact support the "STO" (Safe Torque Off) safety
function in accordance with the requirements of ENISO13849-1 and IEC/EN61800-
5-2/ IEC/EN62061/ IEC/EN61508.
NOTE
Forbasicinformation,aswellasmandatoryplanning,wiring,
commissioningandtestingrequirementsfortheSTOfunction,see
the“STOsafetyfunctiondescription”fortheMSDServoDrive
Single-AxisSystem,MSDServoDriveMulti-AxisSystemand
MSDSingle-AxisServoDriveCompact(IDNo.:CB19388).
The digital input "ENPO" is reserved for the hardware enable. At the setting P100[0]
- MPRO_INPUT_FS_ENPO = "OFF(0)" the digital input signal is used merely for safe
shutdown of the drive and as protection against switching on.
With the setting P100[0] - MPRO_INPUT_FS_ENPO = “START (1)" in combination
with P144[0] - MPRO_DRVCOM_AUTO_START = "ON" autostart mode is activated
(only in MSD Servo Drive). With "STO active" activating the "ENPO" is sufficient to
start control of the drive. When the "ENPO" is cancelled the drive runs down
uncontrolled. If the switch-on delay is active, the power stage starts when the preset
timer has elapsed.
ID Index Name / Setting Unit Description
100 0 MPRO_INPUT_FS_
ENPO
FunctionofdigitalinputENPO
Off(0) Hardwareenablepowerstage
START(1) Hardwareenablepowerstage&startmotor
control
Table 9.3: “Enable power stage (hardware)” parameters