Moog MSD Servo Drive single axis system User Manual
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Moog MSD Servo Drive single axis system User Manual

Moog MSD Servo Drive single axis system User Manual

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  • Page 1 MSD Servo Drive User Manual Single Axis System Multi Axis System Compact...
  • Page 2 MSD Servo Drive User Manual CANopen/EtherCAT moog This document details the functionality of the following equipment MSD Servo Drive single axis system MSD Servo Drive multi axis system MSD Servo Drive Compact Technical alterations reserved. CANopen/EtherCAT for MSD Servo Drive User Manual The contents of our documentation have been compiled with greatest care and in ID no.: CA65647-001, Rev.
  • Page 3 – if not, you should first consult the Operation Manual. Operation modes CiA402 NOTE: This manual applies to the MSD Servo Drive family. Emergency objects Technology functions EDS file, object directory, parameter list Bibliography Appendix: Glossary moog MSD Servo Drive User Manual CANopen/EtherCAT...
  • Page 4 MSD Servo Drive User Manual CANopen/EtherCAT Pictograms Important! Misoperation may result in damage to the drive or malfunctions. Danger from electrical voltage! Improper behaviour may endanger human life. Danger from rotating parts! Drive may start up automatically. Note: Useful information.

  • Page 5: Table Of Contents

    General commissioning of CANopen/EtherCAT ............19 4.1.1 Commissioning ....................19 4.1.2 Commissioning sequence ................19 General Introduction ..............7 4.1.3 Commissioning via Moog D ..........20 rive DministrAtor Measures for your safety ..................7 4.1.4 Operation mode selection (modes of operation) ..........20 Introduction to CANopen ..................7 4.1.5...
  • Page 6 MSD Servo Drive User Manual CANopen/EtherCAT moog PDO mapping ......................33 8.1.3 Status word CiA402 ..................51 5.6.1 Mapping – general ..................33 Operation modes with profile generation in drive ...........52 5.6.2 Mapping notes ....................33 8.2.1 Profile velocity mode ...................52 Heartbeat function ....................34 8.2.2...

  • Page 7: General Introduction

    • Do not touch electronic components and contacts (electrostatic discharge The following sections will provide you with an overview of the CANopen functionality may destroy components). integrated in MSD Servo Drive, followed by the information necessary for commission- ing. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 1...

  • Page 8: Introduction To Ethercat

    MSD Servo Drive User Manual CANopen/EtherCAT moog Introduction to EtherCAT • EtherCAT Communication Specification Version 1.0 2004 • EtherCAT Indicator Specification Proposal V0.91 2005 As far as real-time Ethernet systems are concerned, EtherCAT has become well estab- • IEC 61158-2-12 to IEC 61158-6-12 lished in the area of automation.

  • Page 9: Mounting And Connection Of Canopen

    . io n ti m m an tt e e > a rg e ra n ti ti o in . Fig. 2.1 Position of CAN connection on MSD Servo Drive moog MSD Servo Drive User Manual CANopen/EtherCAT Section 2...

  • Page 10: Meanings Of Leds

    MSD Servo Drive User Manual CANopen/EtherCAT moog Address setting using DIP switch IMPORTANT: Switch 8 = bus termination! An address between 0 and 127 can be selected decimally using DIP switch S4 on the position drive. Note: Changes to the CAN address are applied on a...

  • Page 11: Installation

    Specification of CAN bus connection connector X32. The interface is isolated from the servo drive electronics. The supply to the isolated secondary side is provided by the customer via connector X32. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 2...

  • Page 12: Transmission Speeds

    MSD Servo Drive User Manual CANopen/EtherCAT moog Transmission speeds Terminal X32 Function Description CAN_+24 V External 24 V supply The CAN bus can be operated at the following baud rates: CAN_H CAN High Maximum line length CAN_SHLD CAN Shield (optional)

  • Page 13: Display Of Operating States Via 7-Segment Display

    STO (Safe Torque Off) function is active; the display is not lit if the function is not active. *) This is not a "safe display" under the terms of EN 61800-5-2. 2) The point flashes if the power stage is active. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 2...
  • Page 14 MSD Servo Drive User Manual CANopen/EtherCAT moog...

  • Page 15: Mounting And Connection Of Ethercat

    Pay attention to the Pay attention to the Pay attention to the operation manual! operation manual! operation manual! Upper RJ45 port = input Fig. 3.1 EtherCAT connection Lower RJ45 port = output moog MSD Servo Drive User Manual CANopen/EtherCAT Section 3...

  • Page 16: Pin Assignment Of The Rj45 Socket

    MSD Servo Drive User Manual CANopen/EtherCAT moog IMPORTANT: Errors in cabling (incorrect connection of input and output) Pair # can lead to faulty addressing by the master. Connecting cables 1 2 3 4 5 6 7 8 Ethernet patch cables or crossover cables are suitable connection cables as per the CAT5e specification.

  • Page 17: Display Of Operating Statuses Via 7-Segment Display

    1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn) 1) Starting lockout (DC link is OK, power stage not S.*) (SwitchOnDisabled) ready) Ready to switch on (power stage is ready) (ReadyToSwitchOn) moog MSD Servo Drive User Manual CANopen/EtherCAT Section 3...

  • Page 18: Hardware Enable

    MSD Servo Drive User Manual CANopen/EtherCAT moog Hardware enable Meaning Parameter On (power is connected to the device) (SwitchedOn) MSD Servo Drive has a control input for ENPO hardware enable on the control terminal. Drive ready (current applied to drive and drive ready This input must be configured to operate the power stage at 24 V.

  • Page 19: Commissioning And Configuration Of Canopen

    The Moog D user interface is used for general commissioning of the rive DministrAtor Test the control quality and optimise drive system. The Moog D includes tools to identify motor data, provides the drive settings as necessary using the rive DministrAtor operation manual.

  • Page 20: Commissioning Via Moog D Rive A Dministrator

    MSD Servo Drive User Manual CANopen/EtherCAT moog 4.1.3 Commissioning via Moog D – Interpolated Position mode rive DministrAtor – Cyclic Synchronous Position mode (EtherCAT only) Procedure for commissioning with the aid of the application manual – Cyclic Synchronous Velocity mode (EtherCAT only) –...

  • Page 21: Setting The Timing Parameters

    • There is no reply if the device has certain network statuses. The current network status can be checked using parameter P 2060 COM_CAN_NMT_State. The software address and baud rate can be set using the following device parameters via Moog D rive DministrAtor...

  • Page 22: Testing The Higher-Order Drive

    Testing the higher-order drive Via Moog D rive DministrAtor • First select the relevant MSD Servo Drive in the Moog D tree struc- rive DministrAtor To activate changed settings the device must be switched off and back on again. When ture.

  • Page 23: Commissioning And Configuration Of Ethercat

    Commissioning via EtherCAT is possible using the XML file supplied on your drive. All further commissioning and configuration steps depend on the drive used. For notes on this, please refer to the documentation provided by your drive manufacturer. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 4...
  • Page 24 MSD Servo Drive User Manual CANopen/EtherCAT moog...

  • Page 25: Setting The Device Parameters For Canopen

    • Initialisation values of the COB IDs based on Predefined Connection Set 0x1401 2nd_Receive_PDO_Parameter RECORD PDO CommPar 0x1402 3rd_Receive_PDO_Parameter RECORD PDO CommPar • Access to device parameters 2000h–5FFFh (expedited/non-expedited) Table 5.1 Object directory moog MSD Servo Drive User Manual CANopen/EtherCAT Section 5...

  • Page 26: Parameter Channel (Service Data Objects)

    MSD Servo Drive User Manual CANopen/EtherCAT moog Parameter channel (Service Data Objects) Object Object Object name Type Attr. code The Service Data Object (SDO) permits write and read access to the object directory. 0x1403 4th_Receive_PDO_Parameter RECORD PDO CommPar This SDO is implemented according to the CAL specification by the Multiplexed Domain...

  • Page 27: Data Types

    INT8 -128...127 In our example: Index = 2000 h + 1C7 H INT8 -32768...32767 Integer, signed NOTE: Profile-specific parameters are visible in Moog D , but INT32 -2147483648...2147483647 rive DministrAtor only in the 1000H... (CiA301 objects)/6000H... (CiA402 objects) writeable/ 32-bit floating point number in IEEE...

  • Page 28: Examples Of Sdo Handling

    MSD Servo Drive User Manual CANopen/EtherCAT moog Example: The object 1000h Device Type exists both in the CiA301 profile and also as a device parameter with parameter number 2011. Simultaneous two-way access would therefore be possible via CANopen or EtherCAT. In order to uniquely configure the access, the read/write access for this object is only possible via profile-specific object number 1000h (as per CiA301).
  • Page 29 Requirement: segment 8 40.429249 Reply: segment 8 41.085839 Requirement: segment 9 41.086198 Reply: segment 9 41.740755 Requirement: segment 10 41.741148 Reply: segment 10 42.514034 Requirement: segment 11 42.514294 Reply: segment 11 moog MSD Servo Drive User Manual CANopen/EtherCAT Section 5...
  • Page 30 MSD Servo Drive User Manual CANopen/EtherCAT moog TIME Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comments 43.172512 Requirement: segment 12 43.172787 Reply: segment 12 43.908571 Requirement: segment 13 43.908831 Reply: segment 13 44.668466...

  • Page 31: Parameter Set Download

    • A parameter data set can be downloaded by SDO transfer or via the NOTE: The download of a complete parameter data set is only possible when Moog D user interface version 5 or higher. All manufacturer-specif- the system is at a standstill. Make sure the servo drive is not switched on for...

  • Page 32: Pdo Transmission Types

    MSD Servo Drive User Manual CANopen/EtherCAT moog PDO transmission types Event-controlled TxPDO transmission In connection with the PDO transfer, various transmission types are defined in CANopen Note: Event control is only active when the relevant "transmission type" is set profile CiA301. The transmission type and event control can be set separately for all sup- to asynchronous (FEh or FFh).

  • Page 33: Pdo Mapping

    Variable mapping of parameters is possible on the MSD Servo Drive for all four RxPDOs my byte" for example. Parameter P 2055 "COM_301_U8" (object 0x2807) is and TxPDOs. Mapping works as defined in the CANopen communication profile CiA301. available for this purpose. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 5...

  • Page 34: Heartbeat Function

    MSD Servo Drive User Manual CANopen/EtherCAT moog Heartbeat function Write Heartbeat The Heartbeat function according to CiA301 (V4.01) is supported. MSD Servo Drive can COB-ID = 700 + Node-ID Heartbeat then only be used as a heartbeat producer, i.e. it sends heartbeat telegrams to the drive.

  • Page 35: Monitoring Of Telegram Failure

    Telegram failure monitoring is only active in the NMT status "Operational". moog MSD Servo Drive User Manual CANopen/EtherCAT Section 5...
  • Page 36 MSD Servo Drive User Manual CANopen/EtherCAT moog...

  • Page 37: Setting The Device Parameters For Ethercat

    The EtherCAT Data Link Layer (DL) is then based on this, and is split into mailbox and process data. The following layer is called the Application Layer (AL) and includes the services CoE (CAN over EtherCAT) and EoE (Ethernet over EtherCAT). moog MSD Servo Drive User Manual CANopen/EtherCAT Section 6...
  • Page 38 MSD Servo Drive User Manual CANopen/EtherCAT moog Emergency • Cycle times Transfer of cyclic position setpoints at max. 8 kHz (125 µs) The Emergency service is designed for the transfer of error messages. In contrast to Transfer of cyclic speed setpoints at max. 8 kHz (125 µs) CANopen, emergency messages in EtherCAT are not autonomously sent from the slave Transfer of cyclic torque setpoints at max.
  • Page 39 Cyclic I/O communication Operational PDO output data (RxPDO device) is processed. Table 6.1 Status description Transitions Operations Start Mailbox Communication Stop Mailbox Communication Start Input Update Stop Input Update Table 6.2 Status transitions moog MSD Servo Drive User Manual CANopen/EtherCAT Section 6...

  • Page 40: Configuration For Operation In A Drive

    MSD Servo Drive is performed on the basis of the supplied XML files by the master. The configuration of control settings, scaling etc. can also be performed via the Moog D . Alternatively all parameters can also be configured via the...

  • Page 41: Implemented Cia402 Functionality

    States may change because of the control word or other internal events. The current status is displayed in the STATUS WORD. The state machine describes the drive status with regard to user commands and internal error messages. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 7...

  • Page 42: Device States

    MSD Servo Drive User Manual CANopen/EtherCAT moog The following device states are possible: controlword NOT READY TO SWITCH ON: (6040h) Only low voltage is connected to the drive. The drive is initialised or is performing a self-test. State Machine Internal If installed, the brake engages in this state.
  • Page 43 Control word Command Transitions SHUTDOWN 2, 6, 8 POWER-UP DISABLE POWER 7, 9, 10, 12 QUICK STOP DISABLE OPERATION ENABLE OPERATION RESET FAULT > Table 7.1 Bit combinations moog MSD Servo Drive User Manual CANopen/EtherCAT Section 7...

  • Page 44: Option Codes

    MSD Servo Drive User Manual CANopen/EtherCAT moog Option codes Device control objects The devices support option codes for four different options for shutting down the drive. The following table lists the implemented objects for controlling the drive: These four options are:...

  • Page 45: Units And Scalings, Factor Group

    Object Object Object Type Attr. ratio etc.). It is in fact possible to change these variables in Moog D rive DministrAtor name Code via the bus, but they will be overwritten by the internal calculation as part of the control Fault_Reaction_Option_Code initialisation.
  • Page 46 MSD Servo Drive User Manual CANopen/EtherCAT moog Calculation correlations for factor group parameters Object 6093h: Position factor The position factor converts the desired position (in position units) into the internal Object 608Fh: Position encoder resolution format (in increments). The position encoder resolution defines the relationship between the encoder and motor revolutions.

  • Page 47: I/O Map

    Table 7.6 Object 60FDh – digital inputs Status of output OSD01 Status of output OSD02 3 to 5 Don’t use Status of output motor brake Table 7.8 Object 208Fh – MPRO_OUTPUT_STATE moog MSD Servo Drive User Manual CANopen/EtherCAT Section 7...

  • Page 48: Setting Digital Outputs Via Fieldbus

    MSD Servo Drive User Manual CANopen/EtherCAT moog Assignment Status of relay output 8 to 14 Don’t use Status of relay output "STO (Safe Torque Off)" Table 7.8 Object 208Fh – MPRO_OUTPUT_STATE 7.5.4 Setting digital outputs via fieldbus In order to be able to set or reset digital outputs OSD00–OSD02 via the bus, the "MPRO_Output_FS_OSDxx"...

  • Page 49: Operation Modes Cia402

    Table 8.3 Control word CiA402 Control location MPRO_CTRL_SEL CiA402 selector PRO_REF_SEL Setpoint selector CiA402 Table 8.1 Configuring MSD Servo Drive These parameters can be found under "Motion Profile" --> "Basic Settings" moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...
  • Page 50 MSD Servo Drive User Manual CANopen/EtherCAT moog Bits 0–3 and 7: Operation mode Cyclic Cyclic Cyclic DEVICE CONTROL COMMANDS are triggered by the following schema in the control synchro- synchro- synchro- word: Interpo- Profile Profile nous nous nous Homing lated...

  • Page 51: Status Word Cia402

    Manufacturer-specific change when warnings are issued. For more information on the warning given, refer to Table 8.6 Bits in the status word the FAULT CODE. Bit 8: Manufacturer-specific Currently not used. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...

  • Page 52: Operation Modes With Profile Generation In Drive

    MSD Servo Drive User Manual CANopen/EtherCAT moog Bit 9: Remote Bits 14 and 15: Currently not used. These bits are implemented specific to the manufacturer; explanatory notes for them are given in the sections on the various operation modes. Bit 10: Target reached Operation modes with profile generation The bit is automatically set when a SETPOINT is reached.
  • Page 53 Object Type Structure of operation mode name code Execute the motion Stop Stop axle Table 8.10 Profile velocity mode bits in the status word Fig. 8.1 Structure of profile velocity mode moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...

  • Page 54: Homing Mode

    MSD Servo Drive User Manual CANopen/EtherCAT moog 8.2.2 Homing mode control_word This operation mode (mode of operation = 6) is used for homing a position-controlled status_word axle. The drive executes a movement according to the programmed homing method. homing_speeds Note: The Touch probe function enables control-led homing of the drive.

  • Page 55: Profile Position Mode

    The error cause is found by reading the error code Axle at standstill ROT_0 Speed is much lower than parameter 745 MON_REFWINDOW Table 8.13 Homing mode bits in the status word moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...
  • Page 56 MSD Servo Drive User Manual CANopen/EtherCAT moog Structure of operation mode Mode-specific bits in the control word Bit 4 – New setpoint Limit [position target_position Bit 5 – Change set immediately Multiplier position Function (607Ah) units] Bit 6 – abs/rel positio_range_limit (607Bh) Bit 8 –...

  • Page 57: Velocity Mode (V/F Mode)

    See also section 5.4 "Units and scalings". MSD Servo Drive supports the following objects in this operation mode: Object no. Object name Object code Type 0x6042 vl target velocity Integer16 Table 8.17 Velocity mode moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...

  • Page 58: Cyclical Operation Modes, Profile Generation In The Drive

    MSD Servo Drive User Manual CANopen/EtherCAT moog Cyclical operation modes, profile generation Object no. Object name Object code Type in the drive 0x6046 vl min./max. amount ARRAY Unsigned32 0x6048 vl velocity acceleration ARRAY Unsigned32 In the cyclical operation modes described below, the profile generation takes place...

  • Page 59: Cyclic Synchronous Position Mode (Ethercat Only)

    Table 8.22 Supported objects Interpolated position mode inactive Enable IP mode Interpolated position mode active Execute the instruction of bit 4 Stop Stop axle Table 8.20 Mode-specific bits in the control word moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...

  • Page 60: Cyclic Synchronous Velocity Mode (Ethercat Only)

    MSD Servo Drive User Manual CANopen/EtherCAT moog The following objects are supported by the device for this operation mode: Object no. Object name Object code Type 0x60FF Target velocity Integer32 0x60B1 Velocity offset Integer32 0x60B2 Torque offset Integer16 Table 8.24 Supported objects Fig.

  • Page 61: Cyclic Synchronous Torque Mode (Ethercat Only)

    The type of interpolation is set via parameter P 370 – CON_IP. Table 8.27 Mode-specific bits in the status word However, do NOT use the setting "SplineExtFF". This type of interpolation is reserved for a different operation mode. moog MSD Servo Drive User Manual CANopen/EtherCAT Section 8...
  • Page 62 MSD Servo Drive User Manual CANopen/EtherCAT moog Checking pre-control variables in Moog D rive DministrAtor You can check the transmitted external pre-control variables in MSD Servo Drive in 2 ways: 1. The objects for pre-control can be found in the CANopen/EtherCAT subject area as device parameters 2.

  • Page 63: Emergency Objects

    • Hardware enable ENPO to control terminal Profile Device profile CiA402 Servo drive • Operation via two buttons Error Emergency error register Operating hours meter • Moog D user interface Error Error rive DministrAtor Error code as per (object number...
  • Page 64 MSD Servo Drive User Manual CANopen/EtherCAT moog...

  • Page 65: 10 Technology Functions

    Object 0x60B8 "Touch probe function" is used to specify whether the touch probe func- tion is to be triggered on the falling edge, rising edge or on both edges of the respective signal. Setting the corresponding bit (0–4) activates the respective function (edge-con- trolled). moog MSD Servo Drive User Manual CANopen/EtherCAT Section 10...

  • Page 66: 10.1.2 Control-Led Homing

    10.2 Indexing table function 00000000 10000000 8xxx reserved 00000000 The indexing table function is set in Moog D 5 using the Scaling Wizard rive DministrAtor Table 10.2 Object 0x60B9: Touch probe status in the Movement Profile  Scalings/Units subject area.
  • Page 67 CiA402. Only bits 6 and 7 are significant (see table). Value (hex) Meaning 0x00 As for linear 0x40 Anti-clockwise rotation 0x80 Clockwise rotation 0xC0 Distance optimised Table 10.4 Bit assignment for object 0x60F2 moog MSD Servo Drive User Manual CANopen/EtherCAT Section 10...
  • Page 68 MSD Servo Drive User Manual CANopen/EtherCAT moog...

  • Page 69: Eds File, Object Directory, Parameter List

    EDS file. These are power stage- specific parameters with contents that are dependent on the size. Examples of such parameters are: Para P 0302 – CON_SwitchFreq Para P 0307 – CON_VoltageSupply Para P 0651 – DV_CAL_VDC moog MSD Servo Drive User Manual CANopen/EtherCAT Section 11...
  • Page 70 CANopen/EtherCAT for MSD Servo Drive User Manual...

  • Page 71: 12 Bibliography

    12 Bibliography MSD Servo Drive Operation Manual Moog GmbH Hanns-Klemm-Straße 28 D-71034 Böblingen www.moog.com/industrial drives-support@moog.com MSD Servo Drive User Manual Moog GmbH Hanns-Klemm-Straße 28 D-71034 Böblingen www.moog.com/industrial drives-support@moog.com CiA301 (Rev. 4.0): Application Layer and Communication Profile http://www.can-cia.org/ CiA402 (Rev. 2.0): Device Profile Drives and Motion Control http://www.can-cia.org/...
  • Page 72 MSD Servo Drive User Manual CANopen/EtherCAT moog...
  • Page 73 Subsets: CMC: (CAN based Message Specification). Sets out the definition described above. Is accepted by most CAN suppliers. Moog GmbH conforms to this definition. NMT: (Network Management). Required for masters in the CAN system.
  • Page 74 MSD Servo Drive User Manual CANopen/EtherCAT moog...
  • Page 75 .......................38 Commissioning ...................19, 23 Error acknowledgement ................63 Commissioning instructions ..............21 Error acknowledgement, general ..............63 Commissioning, sequence .................19 Error acknowledgement via bus system .............63 Commissioning via Moog D ..........20 EtherCAT connection ................15 rive DministrAtor Communication objects ................25 EtherCAT option ..................15 Configuration ...................19 EtherCAT state machine ................39...
  • Page 76 MSD Servo Drive User Manual CANopen/EtherCAT moog Example of application of the screens ............33 IN and OUT socket ..................15 Example of read access ................29 Input/output .....................15 Example of the flash sequence ............13, 18 Installation and cabling ................15 Example of use of the DIP switches ............10 Introduction to CANopen ................7...
  • Page 77 Representation of data types in the control protocol .........27 Restoring factory defaults .................22 Units and scalings ..................45 Safety instructions ..................7 Voltage enabled ..................51 Saving the settings ..................22 SDO Information Service ................38 Selecting events ..................32 moog MSD Servo Drive User Manual CANopen/EtherCAT Section 14...
  • Page 78 MSD Servo Drive User Manual CANopen/EtherCAT moog Where can I find the device parameters? ...........27 XML file ....................39 Your qualification ..................7...
  • Page 80 TAKE A CLOSE LOOK. Moog solutions are only a click away. Visit our worldwide Web site for more informati- on and the Moog facility nearest you. moog Moog GmbH Hanns-Klemm-Straße 28 D-71034 Böblingen Phone +49 7031 622 0 Telefax +49 7031 622 100 www.moog.com/industrial...

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