Moog MSD User Manual

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MSD Servo Drive User Manual SERCOS II
21
[ Chapter 4 ]
Bit Explanation
Bit 11 Change bit of C3D (operation datum S-0-0013)
0 No change
1 Change
Bits 10, 9, 8 Current mode
0 0 0 Primary mode (defined by operation datum S-0-0032)
0 0 1 Secondary mode-1 (defined by operation datum S-0-0033)
0 1 0 Secondary mode-2 (defined by operation datum S-0-0034)
0 1 1 Secondary mode-3 (defined by operation datum S-0-0035)
1 0 0 Secondary mode-4 (defined by operation datum S-0-0284)
1 0 1 Secondary mode-5 (defined by operation datum S-0-0285)
1 1 0 Secondary mode-6 (defined by operation datum S-0-0286)
1 1 1 Secondary mode-7 (defined by operation datum S-0-0287)
Bit 7 Real-time status bit 2 (S-0-0306)
Bit 6 Real-time status bit 1 (S-0-0304)
Bit 5 Command change bit
0 No change of command acknowledgement
1 Change of command acknowledgement
Bit 4 Reserved
Bit 3 Status of setpoint transfer
0 The drive ignores the setpoints of the master, such as during drive-controlled
motion (homing, ..) or parameterizable delay times
1 The drive follows the setpoints of the master control system
Bit 2 “Fault“ in service channel
0 No fault
1 Fault in service channel, fault message in drive service INFO (S-0-0014)
Bit 1 “Busy“ bit
0 Step ended, ready for new step
1 Step being processed; new step not permitted
Bit 0 “AHS”
0/1 Service transport handshake of drive
Table 4.2 Drive status word (parameter S-0-0135)
The system state of the drive is indicated on the display on the front panel of the unit.
Bits 15, 14, 13 and 3 of the SERCOS status word are mapped onto one of eight pos-
sible system states according the following table. The drive state machine (SERCOS) is
described in the following section.
Bit 15 Bit 14 Bit 13 Bit 3 Display readout System state designation
0 0 0 0
START
Drive in initialization phase
0 1 0 0
NOT READY FOR
START
Power stage without power,
no DC-link voltage, input STO
requested
0 1 0 0
NOT READY FOR
START
Power stage without power,
no DC-link voltage
1 0 0 0
STARTING LOCKOUT
POWER
Not enabled, DC-link voltag
Starting lockout Power e
present, input STO requested
1 0 0 0
STARTING LOCKOUT
Power stage without power,
not enabled, DC-link voltage
present
1 0 0 0
READY FOR START
Power stage without power,
enabled, DC-link voltage
present
1 0 0 0
ON ACTIVATE
Power stage (activate power
stage, motor commutation,
brake management)
Table 4.3 Mapping of bits 3, 13, 14 and 15 onto system state

Moog MSD Specifications

General

Brand	Moog
Model	MSD
Category	Servo Drives
Language	English