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Moog MSD User Manual
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m
oog
MSD
Ser
vo Dri
ve
Use
r
Manual
2
Table of Contents
Default Chapter
5
Table of Contents
5
1 Safety
7
Measures for Your Safety
7
Read the Operation Manual First
7
Introduction to the SERCOS Interface
7
Operation Modes
7
Key Features
8
Weighting
8
Terms
9
Drive-Controlled Homing
9
2 Commissioning of the SERCOS Interface
11
Connections and Controls - Hardware Variant 1
11
Connections and Controls - Hardware Variant 2
11
Connection of Fibre-Optic Cables
12
Hardware Settings
12
Setting the Transmission Power of the SERCOS Interface
12
Setting the Drive Address Via Parameter
12
Transfer Rate of SERCOS Interface
12
Diagnostic Leds
13
Use of the Distortion LED
13
Checking Fibre-Optic Cables
13
3 SERCOS Communication Phases
15
Communication Phase 0
15
Communication Phase 1
15
Communication Phase 2
15
Communication Phase 3
16
Communication Phase 4
16
4 Parameter Interface
17
Profile Parameters (S-0-XXXX)
17
Manufacturer Specific Parameters (P-0-XXXX)
17
Cyclic Data Transfer
17
Master Control Word
18
Description of Bits 13-15
19
Drive Status Word
20
Drive State Machine
22
Real-Time Control Bits and Real-Time Status Bits
23
Signal Control and Status Words
24
Signal Control Word (S-0-0145)
24
5 Fault, Warning and Status Messages
27
Fault Messages
27
Warning Messages
28
Status Messages
28
Interface Faults and Diagnostic Options
29
Diagnosis of Interface Status
29
Fault Counter for Telegram Failures
29
6 Operation Modes
31
Torque Control
33
Flux Control
34
Position Control with Drive-Controlled Position Profile Generation
35
Position Control Without Tracking Error
37
In-Drive Generation of Pre-Control Signals
37
External Generation of Pre-Control Signals
38
7 Weighting
39
Weighting of Position Data
39
Weighting of Translatory Position Data
39
Weighting of Rotary Position Data
39
Modulo Weighting
41
Position Polarity
41
Weighting of Velocity Data
42
Weighting of Translatory Velocity Data
42
Weighting of Rotary Velocity Data
42
Velocity Polarity
43
Weighting of Acceleration Data
44
Weighting of Translatory Acceleration Data
44
Weighting of Rotary Acceleration Data
44
Weighting of Torque and Force Data
45
Percentage Weighting of Torque and Force Data
45
Weighting of Force Data
45
Weighting of Torque Data
46
Torque Polarity
46
8 Homing
49
Drive-Controlled Homing" Command
49
Setting of SERCOS Encoders 1 / 2
49
Homing Velocity
49
Homing Acceleration
49
Homing Method
49
Reference Distance 1/2
49
Reference Distance Offset 1/2
49
Reference Cam, Limit Switches
50
Function Selector - Digital Inputs and Outputs
50
9 Touchprobe Function
51
10 Parameter Access Via the Service Channel
55
10.1 SERCOS Parameter List
55
Other manuals for Moog MSD
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Moog MSD Specifications
General
Bus voltage
24 - 48 VDC
Communication
EtherCAT, CANopen
Input Voltage
24 - 48 VDC
Output Current
5 A
Communication Interface
EtherCAT, CANopen
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