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MSD Servo Drive User Manual SERCOS II
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Figure 1.1 SERCOS communication module for MSD Servo Drive
The SERCOS communication module for the MSD Servo Drive is implemented as a SERCOS II
interface with a plastic optical fibre (POF) or hard clad silica (HCS) cable loop with F-SMA
connectors. There are currently two hardware variants, though in future only the variant de-
tailed under 2.2 will be manufactured. The hardware and software have, as far as possible,
been developed in conformance to DIN/EN 61491. The basis for implementing SERCOS II is
the document titled Specification SERCOS Interface (Rev. 2.4 issued Feb. 2005).
The power supply to the communication module is provided by the MSD Servo Drive.
Baud rates of 2, 4, 8 and 16 Mbit/s are possible, and are detected automatically by the
module. This means there is no need to preset the baud rate.
Real-time capability permits highly dynamic drive engineering applications with NC cycle
times of 125 µs to 65 ms (multiples of 125 µs). The data to be transferred is defined in
the SERCOS driver in numerous preference telegrams and parameters. They are specially
tailored to the high demands of electric drive systems. A freely configurable telegram
permits optimum utilization of all the possibilities offered by the line based on additional
setpoint and actual value parameters such as increasing the transferred position resolu-
tion, use of the inputs and outputs in the drive in the NC cycle, and much more.
1.4 Key features
• Data transfer via plastic optical fibre (POF) or hard clad silica (HCS) cable with
F-SMA connectors
• Transfer rate: Optionally 2, 4, 8 or 16 MBaud
• Automatic baud rate detection
• Transmission power programmable via DIP switches (hardware variant 1 only),
otherwise via parameters.
Setup using pushbuttons and display in preparation
• Programmable SERCOS address via parameters.
Setup using pushbuttons and display in preparation
• Cyclic data exchange of setpoints and actual values with exact time equidistance
• SERCOS-cycle time of 125 µs to 65 ms (multiples of 125 µs programmable)
• Multi-axis synchronization between setpoint action times and actual value mea-
surement times of all drives in the loop
• Full synchronization of all connected drives with the master control system
• Free configuration of telegram content
• Maximum configurable data volume in MDT: 20 bytes
• Maximum configurable data volume in DT: 20 bytes
• Programmable parameter weighting and polarity for position, velocity, acceleration
and torque
• Additive velocity and torque setpoints
• Fine-interpolation (linear or cubic) inside the drive
• Optionally master control-side (external) or in-drive generation of rotation speed
and acceleration pre-control
• Service channel for parameter setting and diagnosis
• Support for touchprobes 1 and 2
• Support for spindle commands
• Support for configurable real-time status and control bits
• Support for configurable signal status and control word
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