Moog MSD Servo Drive Series

ID Index Name / Setting Unit Description
P 207[0] - MPRO_TAB_ActIdx.Theteach-in
functioncanalsobeactivatedbyparameter
P 269[0] - MPRO_TAB_Ctrlbit0.
TAB0(23) Binarytableindex2^0
TAB1(24) Binarytableindex2^1
TAB2(25) Binarytableindex2^2
TAB3(26) Binarytableindex2^3
EGEAR(27) Start/Stopelectronicgearing
REFANAEN(28) Enableanalogreference
ENC(29) UseofISD05/ISD06asencoderinput(pulse
count,pulse/direction).
JOG_EXT_POS(34) JogPositive(extendedmode)
JOG_EXT_NEG(35) JogNegative(extendedmode)
FAST_DISC(36) FastdischargeofDClink(usingabraking
resistor)
LIM_OFF(37) Limitsoff(torqueandspeed):Torquescaling
(P 332[0] - CON_SCON_TmaxScale)and
speedlimiting(P 337[0] - CON_SCON_
SmaxScale)willbedisabled(ISDxx="high").If
thefunctionisnotparameterizedtoaninput
(ISDxx="low")thelimitsarealwaysactive.
LOCK_POS(38) Lockpositivedirection:Reversinglock,positive
direction(accessalsoviaMSDPLC).
LOCK_NEG(39) Locknegativedirection:Reversinglock,
negativedirection(accessalsoviaMSDPLC).
BRAKE_ON(40) Switchoffmotorbreakatonce
PWR_REL_DIRECT(41) Usedtomanuallyswitchtheprechargerelay
(with1000msdelay)Useonlyafterconsultation
withMoog.
SPINDLECLAMP_S1(42) Switch1input
SPINDLECLAMP_S2(43) Switch2input
SPINDLECLAMP_S3(44) Switch3input
SPINDLECLAMP_P(45) ClampingPressurizedinput
USER1(46) Testcase46
USER2(47) Testcase47
START_PRC(48) Startprocesscontroller
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
9.2.3Hardwareenable–powerstage
MSD Servo Drive Single-Axis System, MSD Servo Drive Multi-Axis System and
MSDSingle-Axis Servo Drive Compact support the "STO" (Safe Torque Off) safety
function in accordance with the requirements of ENISO13849-1 and IEC/EN61800-
5-2/ IEC/EN62061/ IEC/EN61508.
NOTE
 Forbasicinformation,aswellasmandatoryplanning,wiring,
commissioningandtestingrequirementsfortheSTOfunction,see
the“STOsafetyfunctiondescription”fortheMSDServoDrive
Single-AxisSystem,MSDServoDriveMulti-AxisSystemand
MSDSingle-AxisServoDriveCompact(IDNo.:CB19388).
The digital input "ENPO" is reserved for the hardware enable. At the setting P100[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 P100[0] - MPRO_INPUT_FS_ENPO = “START (1)" in combination
with P144[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
FunctionofdigitalinputENPO
Off(0) Hardwareenablepowerstage
START(1) Hardwareenablepowerstage&startmotor
control
Table 9.3: “Enable power stage (hardware)” parameters