Moog MSD - Default Chapter; Table of Contents

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MSD Servo Drive User Manual SERCOS II
5
Table of contents
1 Safety ...................................................................................... 7
1.1 Measures for your safety .........................................................................................7
1.2 Read the Operation Manual first! ............................................................................7
1.3 Introduction to the SERCOS interface ......................................................................7
1.4 Key features ............................................................................................................8
1.5 Terms ...................................................................................................................9
2 Commissioning of the SERCOS interface ..................................11
2.1 Connections and controls – hardware variant 1 ......................................................11
2.2 Connections and controls – hardware variant 2 ......................................................11
2.3 Connection of fibre-optic cables .............................................................................12
2.4 Hardware settings ...................................................................................................12
2.4.1 Setting the transmission power of the SERCOS interface .............................12
2.4.2 Setting the drive address via parameter .......................................................12
2.4.3 Transfer rate of SERCOS interface ................................................................12
2.5 Diagnostic LEDs ......................................................................................................13
2.5.1 Use of the distortion LED .............................................................................13
2.5.2 Checking fibre-optic cables .........................................................................13
3 SERCOS communication phases ............................................. 15
3.1 Communication phase 0 .........................................................................................15
3.2 Communication phase 1 .........................................................................................15
3.3 Communication phase 2 .........................................................................................15
3.4 Communication phase 3 .........................................................................................16
3.5 Communication phase 4 .........................................................................................16
4 Parameter interface ................................................................ 17
4.1 Profile parameters (S-0-xxxx) ..................................................................................17
4.1.1 Manufacturer specific parameters (P-0-xxxx) ...............................................17
4.2 Cyclic data transfer ..................................................................................................17
4.3 Master control word ...............................................................................................18
4.3.1 Description of bits 13-15 ..............................................................................19
4.4 Drive status word ....................................................................................................20
4.5 Drive state machine ................................................................................................22
4.6 Real-time control bits and real-time status bits ........................................................23
4.7 Signal control and status words ..............................................................................24
4.7.1 Signal control word (S-0-0145) .....................................................................24
5 Fault, warning and status messages ....................................... 27
5.1 Fault messages ........................................................................................................27
5.2 Warning messages ..................................................................................................28
5.3 Status messages ......................................................................................................28
5.4 Interface faults and diagnostic options .................................................................... 29
5.4.1 Diagnosis of interface status ........................................................................29
5.4.2 Fault counter for telegram failures ...............................................................29
6 Operation modes .................................................................. 31
6.1 Torque control ........................................................................................................33
6.2 Flux Control ............................................................................................................34
6.3 Position control with drive-controlled position profile generation ...........................35
6.4 Position control without tracking error ....................................................................37
6.4.1 In-drive generation of pre-control signals ....................................................37
6.5 External generation of pre-control signals ...............................................................38