Moog MSD User Manual

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MSD Servo Drive User Manual SERCOS II
17
[ Chapter 4 ]
4 Parameter interface
4.1 Profile parameters (S-0-xxxx)
The SERCOS specific profile parameters (S-0-0001 .. S-0-4095) are mapped as Moog
parameters (P-0-10001 ... to P-0-14095). The corresponding addressing is:
Moog ID - 10000 dec
4.1.1 Manufacturer specific parameters (P-0-xxxx)
The manufacturer specific parameters (Moog parameters) (P-0-0001 .. P-0-4095) are ad-
dressed as follows as P-parameters:
Moog ID + 8000 hex
Example: Moog P-0-0101 function selector ISD01 is to be found in the IDN listing
(S-0-0017) as P-0-0101.
Currently only record 0 is supported.
SERCOS currently does not support language switching. English is installed by default.
4.2 Cyclic data transfer
To synchronize the drives in the loop, at the start of each SERCOS cycle (cycle time
t
Scyc
= S-0-0002) the master sync telegram (MST) is sent (see diagram below). Its only
information content is the communication phase dictated by the master. The contents of
the master data telegram (MDT) and the drive telegram (DT) are configurable. The con-
trol sends a common master data telegram for all drives to the drives once per SERCOS
cycle. It contains the master control word, the service channel (parameter channel) and a
configurable data block. This data block usually contains setpoints and limit values which
the master control system wants to send to the drive to run the desired operation mode.
The content of this data block can be configured by the telegram setting. The master
data telegram is received simultaneously by all the drives in the loop. Likewise once per
SERCOS cycle, each drive sends a separate drive telegram to the master control. It con-
tains the drive status word, extracts from the service channel and a configurable data
block. This data block usually contains actual and status values which the master control
system needs to run the desired operation mode.
Figure 4.1
AT
A
T
AT
MDT
t
m
2
1
1.1
t
1.2
t
1.M
t
2
t
Scyc
A
T
M
t
1.m
AT
A
T
AT
MDT
t
m
2
1.1
t
1.2
t
1.M
t
2
t
Scyc
A
T
M
t
1.m
MST
MST
SERCOS cycle timing diagram

Moog MSD Specifications

General

Brand	Moog
Model	MSD
Category	Servo Drives
Language	English