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MDS Servo Drive
User Manual
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Moog MDS Servo Drive User Manual

MSDServoDrive
User Manual
PROFIBUS / PROFINET
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Single-Axis ServoDrive - Compact
Single-Axis ServoDrive - Standard
Multi-Axis ServoDrive - System
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This document details the functionality of the following devices:
ID no.: CA65645-001 Date: 01/2015
Single-Axis ServoDrive - Compact Single-Axis ServoDrive - Standard Multi-Axis ServoDrive - System
MSD Servo Drive User Manual PROFIBUS/PROFINET
PROFIBUS/PROFINET User Manual for MSDServoDrive
ID no.: CA65645-001, Rev. 3.0
Date: 01/2015
Subject to technical change without notice. The German version is the original of this Operation Manual.
Subject to technical change without notice.
The contents of our documentation have been compiled with greatest care and in compliance with our present status of information.
Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products.
Information and specifications may be changed at any time. For information on the latest version please refer to drives-support@moog.com.
How to use this document
Dear us er,
This manual is intended for use by project engineers, commissioning engineers and programmers of drives and automation solutions involving the PROFIBUS/PROFINET fieldbus. It is assumed that you are already familiar with at least one of these fieldbuses on the basis of appropriate training and reading of the relevant literature. We assume that your drive has already been commissioned – if not, please first refer to the user manual.
11 General introduction
Appendix: Glossary, Index
22 Commissioning
33 Cyclic data transfer
44 Acyclic data transfer
55 Operation modes
66 Homing
77 Examples of commissioning
88 PROFIBUS/PROFINET parameters
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ID no.: CA65645-001 Date: 01/2015
MSD Servo Drive User Manual PROFIBUS/PROFINET
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Pictograms
!
ID no.: CA65645-001 Date: 01/2015
Attention! Misoperation may result in damage to the drive or malfunctions.
Danger from electrical tension! Improper behaviour may endanger human life.
Danger from rotating parts! Drive may start up automatically.
Note: Useful information
MSD Servo Drive User Manual PROFIBUS/PROFINET
Table of contents
1 General .................................................................................... 7
1.1 Measures for your safety .....................................................................................7
1.2 Introduction ........................................................................................................7
1.3 System requirements ........................................................................................... 7
1.4 Further documentation .......................................................................................7
1.5 Helpline/Support & Service ..................................................................................8
2 Commissioning ......................................................................... 9
2.1 PROFIBUS ...........................................................................................................9
2.1.1 Connections and user controls .............................................................9
2.1.2 Pin assignment of the D-Sub socket .....................................................9
2.1.3 Specification of the PROFIBUS cable ....................................................10
2.1.4 Bus termination ...................................................................................10
2.1.5 PROFIBUS address setting ....................................................................11
2.1.6 PROFIBUS option card displays .............................................................11
2.1.7 GSD file (PROFIBUS) .............................................................................12
2.2 PROFINET ............................................................................................................13
2.2.1 Connections ........................................................................................13
2.2.2 Pin assignment of the RJ45 socket .......................................................13
2.2.3 Specification of the PROFINET cable ....................................................14
2.2.4 Meanings of LEDs ................................................................................14
2.2.5 PROFINET option card displays .............................................................15
2.2.6 GSDML file (PROFINET) ........................................................................15
3 Cyclic data transfer ................................................................. 17
3.1 Parameter process data objects (PPOs) ................................................................17
3.1.1 Standard "PROFIdrive" telegrams.........................................................17
3.1.2 User-specific PPOs ................................................................................19
3.1.3 Parameter channel PKW ......................................................................23
3.2 Monitoring ..........................................................................................................24
3. 2 .1 Watchdog ............................................................................................24
3.2.2 Sign of Life...........................................................................................24
4 Acyclic data transfer ............................................................... 27
4.1 PROFIBUS parameter access ................................................................................ 27
4.2 PROFINET parameter access ................................................................................29
4.3 "Base Mode Parameter Access" data format .......................................................29
4.4 Examples of request and response telegrams ......................................................32
5 Profidrive operation modes ..................................................... 35
5.1 Profinet operation modes ....................................................................................35
5.1.1 Speed control circuit and associated control parameters ......................36
5.2 Drive state machine .............................................................................................37
5.3 Jog mode ............................................................................................................38
5. 3 .1 Jog mode manufacturer-specific ..........................................................38
5.3.2 Jog mode conforming to profile ...........................................................38
5.3.3 Jog mode reference parameters ..........................................................39
5.4 Speed control (application class 1) .......................................................................39
5. 4 .1 Master control word ............................................................................40
5.4.2 Drive status word .................................................................................41
5.5 Position control (application class 3) ....................................................................42
5.5.1 Position control circuit and associated control parameters ...................44
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MSD Servo Drive User Manual PROFIBUS/PROFINET
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ID no.: CA65645-001 Date: 01/2015
6 Homing .................................................................................. 49
6.1 Drive-controlled homing .....................................................................................49
6.2 Homing velocity ..................................................................................................49
6.3 Homing acceleration ...........................................................................................49
6.4 Zero point offset .................................................................................................49
6.5 Homing method ..................................................................................................49
6.6 Reference cam, limit switch .................................................................................51
7 Examples of commissioning with manufacturer-specific
telegrams ............................................................................... 53
7.1 Position control with PPO 5 .................................................................................53
7.2 Controlled homing ..............................................................................................54
7.3 Conversion of reference and actual values via the factor group parameters .......54
7.4 Examples for setting the user factor group ..........................................................56
7.5 Speed control with PPO 2 ...................................................................................56
7.5.1 Speed input .........................................................................................57
7.6 Mappable parameters .........................................................................................58
MSD Servo Drive User Manual PROFIBUS/PROFINET
8 PROFIBUS/PROFINET parameters ............................................. 59
9 Appendix ................................................................................ 61
9.1 Glossary ..............................................................................................................61
9.2 Technical data .....................................................................................................61
1 General
1.

1.1 Measures for your safety

1.2 Introduction

PROFIBUS based on standards and its modular interfaces. Thanks to its use of a single standardised, non-application-dependent communication protocol, PROFIBUS provides solutions for the process industry as well as in a wide range of motion control applications.
Servo drives of the MSDServoDrive family are quick and easy to handle. For your own safety and for the safe functioning of your device, please be sure to observe the following points:
Read the Operation Manual first!
x Follow the safety instructions!
Electric drives are dangerous:
x Electrical voltages > 230 V/460 V:
Dangerously high voltages may still be present 10minutes after the power is
cut. So check that the power has been cut! x Rotating parts x Hot surfaces
Your qualification:
x In order to prevent personal injury and damage to property, only
personnel with electrical engineering qualifications may work on the device. x Knowledge of the national accident prevention regulations (such as VBG4
inGermany) x Knowledge of layout and interconnection of fieldbuses
U
U
V
V
N
N
L+
L+
RB
RB
L-
L-
L3
L3
L2
L2
L1
L1
During installation observe the following instructions:
x Always comply with the connection conditions and technical specifications. x Electrical installation standards,such as cable cross-section, shielding, etc. x Do not touch electronic components and contacts (electrostatic discharge
may destroy components).
PROFINET permits enhanced system-wide connectivity, adding to tried and proven PROFIBUS technology for applications specifying fast data communication in combination with industrial IT functionality. Thanks to its Ethernet-based communication, PROFINET meets a wide range of requirements, from data-intensive parameter assignments to synchronised data transfer. Communication for all applications is routed through just one cable. Whether for a simple control task or for highly dynamic motion control of drive axes. TCP/IP-based communication in the PROFINET network enabling extensive system diagnostics in a control station or over the Internet is implemented in parallel with real-time communication.

1.3 System requirements

− PROFIBUS/PROFINET configuration program installed.
− PROFIBUS/PROFINET device description file for corresponding field device installed.

1.4 Further documentation

y Instructions for commissioning the drive device y PROFIBUS user organisation "PROFIdrive - PROFIDrive Technology for PROFIBUS
and PROFINET" Version 4.1, May 2006, Order no. 3.172
y PROFIBUS User Organisation: "Profile Guidelines Part 1: Identification &
Maintenance Functions, 1.2, Oct 2009, Order No. 3.502"
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General

ID no.: CA65645-001 Date: 01/2015
MSD Servo Drive User Manual PROFIBUS/PROFINET
General
Drive ADmin istrAtor
Drive ADmin istrAtor
Drive ADmin istrAtor
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ID no.: CA65645-001 Date: 01/2015

1.5 Helpline/Support & Service

Our Helpline can provide you with fast, targeted assistance if you have any technical queries relating to project planning or commissioning of the drive unit. To that end, please collect the following information prior to making contact:
1. Type designation, serial number and software version of the devices (see Software rating plate)
2. Moog
3. Displayed error code version (on 7-segment display or Moog
4. Description of the error symptoms, how it occurred and relevant circumstances
5. Save device settings to file in Moog
6. Name of company and contact, telephone number and e-mail address
If you have any technical questions concerning project planning or commissioning of the servo drive, please feel free to contact our helpline.
y Helpline - Please contact us:
If you need further assistance, our specialists at the Moog Service Center will be happy to help.
y Service - Please contact us:
►Ver s i on)
Moog GmbH Hanns-Klemm-Straße 28 D-71034 Böblingen Phone: +49 7031 622 0 Telefax: +49 7031 622 100 E-Mail: drives-support@moog.com
Phone: +49 7031 622 0 E-Mail: info.germany@moog.com
version in use (menu ►Help ►Information...
MSD Servo Drive User Manual PROFIBUS/PROFINET
)
2 Commissioning
X14
12345
RxD
TxD-N
5 Volt

2.1. 2 Pin assignment of the D-Sub socket

PROFIBUS is connected via a nine-pin sub-D plug connector. The pin assignment is shown in the diagram below and described in the following table.

2.1 PROFIBUS

Note:
For technical data and information on topologies and maximum cable lengths see chapter 9.2.

2.1.1 Connections and user controls

The connections and user controls of the PROFIBUS interface are shown in table 2.1. LEDs H1, H2, H3 act as status indicators. The rotary coding switches S1 and S2 (MSDServoDrive only) can be used to set the PROFIBUS address of the drive. The PROFIBUS cable is connected to the D-Sub socket X14.
Front panel No. Comments
MSDServoDrive Single-Axis Compact H1 Status indicator LED (yellow)
H2 Status indicator LED (red)
H3 Status indicator LED (green)
1)
S1
1)
S2
X14 PROFIBUS cable connection
Rotary coding switch to set the PROFIBUS address for the drive = 0x(S2)(S1)
Rotary coding switch to set the PROFIBUS address for the drive = 0x(S2)(S1)
DGND
TxD-P
6789
RxD
VP
Figure 2.1
Pin RS-485 Signal Description
1 SHIELD Earthed shield
2 RP Reserved for power supply via bus
3 B/B’ (red) RxD / TxD-P Send and receive data (+)
4 CNTR-P Control signal for repeater (+)
5 C/C’ DGND
6 VP Power supply for terminating resistor (+)
7 RP Reserved for power supply via bus
8
9 CNTR-N Control signal for repeater (-)
Table 2.2 Description of pin assignment
Pin assignment of D-SUB connector
A/A’ (green)
RxD / TxD-N Send and receive data (-)
Data reference potential and power supply to terminating resistor (-)
1) MSDServoDrive only
Table 2.1 PROFIBUS option card
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Commissioning

ID no.: CA65645-001 Date: 01/2015
The pin assignments highlighted in table 2.2 are necessary from the user’s viewpoint. The control signals used for the repeaters are optional, and the power supply for the terminating resistors is provided by the device.
MSD Servo Drive User Manual PROFIBUS/PROFINET
Commissioning
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ID no.: CA65645-001 Date: 01/2015
2.1. 3 Specification of the PROFIBUS cable
For the wiring Moog recommends using the following hardware:
PROFIBUS D-Sub bus termination plug
Siemens order number 6XV1 830-0EH10
Siemens article description PB FC EIA485 PLUG 180, AXIAL CABLE OUTLET
Table 2.3 Recommended PROFIBUS D-Sub bus termination plug
PROFIBUS cable
Siemens order number 6GK1 500-0FC10
Siemens article description SIMATIC NET, PB FC STANDARD CABLE GP, 2-WIRE, SHIELDED
Table 2.4 Recommended PROFIBUS cable

2.1. 4 Bus termination

If the MSDServoDrive is initially at the end of the bus system, a plug with an integral terminating resistor Rt should be used. In addition to the cable terminating resistor in accordance with the EIA485 standard, a pull-down resistor Rd against the data reference potential DGND and a pull-up resistor Ru against VP are provided. This ensures a defined no-load potential of 1.1 Volt between pins 3 and 8. In a made-up PROFIBUS cable these resistors are all incorporated as standard in the PROFIBUS plug and the terminating resistor can be activated using a switch on the PROFIBUS plug. The following figure shows a Sub-D 9-pin plug bus termination.
Vp = 5 Volt (6)
RxD TxD-P (3)
RxD TxD-N (8)
Figure 2.2
GND (6)
Unit
Sub-D 9-pin plug bus termination
MSD Servo Drive User Manual PROFIBUS/PROFINET
Ru = 390 Ohm
B (red)
Rt = 220 Ohm
A (green)
Rd = 390 Ohm
plug
PROFIBUScabel
10

2.1.5 PROFIBUS address setting

2
1
B
C
MSDServoDrive
Select the mode of addressing:
1. Coding switches S1 and S2 By way of the two coding switches a hexadecimal address between 0 and 125 is set.
S
4
5
3
6
2
7
1
8
0
9
F
A
E
B
D
C
S
4
5
3
6
2
7
1
8
0
9
F
A
E
D
Figure 2.3 Coding switches for PROFIBUS address
2. Bus address parameter P 0918 By way of bus address parameter P 0918-COM_DP_Adress a valid decimal address between 0 and 125 is set. A setting via this parameter is only valid if an address above 125 is set via the coding switches (e.g. 0xFF, i.e. S1=S2=F).
3. Setting via device keypad A valid hexadecimal address between 0 and 125 is set using the device keypad on the submenu "Fb". The preset value is written to bus address parameter P0918. Instructions for use of the device keypad are given in the MSDServoDrive Operation Manual. A setting via the device keypad is only valid if an address above 125 is set via the coding switches (e.g. 0xFF, i.e. S1=S2=F).
Single-Axis Compact
Select the mode of addressing:
4. Bus address parameter P 0918 By way of bus address parameter P 0918-COM_DP_Adress a valid decimal address between 0 and 125 is set.
5. Setting via device keypad A valid hexadecimal address between 0 and 125 is set using the device keypad on the submenu "Fb". The preset value is written to bus address parameter P 0918. Instructions for use of the device keypad are given in the Single­AxisCompact Operation Manual.
Note:
All setting modes require the device to be restarted in order to activate the new address.
The following functions and displays are available:
y Display of device state
The device state is displayed when the control supply is switched on. If no input is made via the keypad for 60seconds, the display switches back to the device state.
y Display of device error state
If a device error occurs the display immediately switches to show the error code.
y Parameter setting (display "PA")
Reset device parameters to their factory setting
y Ethernet IP address setting (display "IP")
Set Ethernet IP address and subnet mask
y Fieldbus settings (display "Fb")
Set fieldbus address for example

2.1.6 PROFIBUS option card displays

Note:
All setting modes require the device to be restarted in order to activate the new address.
Three LEDs are mounted on the PROFIBUS option card indicating the current operating status of the module. The following tables set out the operating states of the PROFIBUS option card based on the various illumination sequences.
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MSD Servo Drive User Manual PROFIBUS/PROFINET
11
Commissioning
Commissioning
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LED 3, green LED 2, red Status
Table 2.5 Self-test during diagnostics
LED 3, green LED 2, red Status
ID no.: CA65645-001 Date: 01/2015
Reset (after power on)
ASIC RAM test and initialisation
End of ASIC RAM test and initialisation
Seeking baud rate after power on without bus connection
Seeking baud rate after bus connection has already been made
Waiting for parameterisation data
Communication: Data exchange without acyclic master class 2 connection. Yellow LED lit.
Communication: Data exchange "clear state"
Incorrect parameterisation data
MSD Servo Drive User Manual PROFIBUS/PROFINET
12
2.1.7 GSD file (PROFIBUS)
The device master data file contains the summary of the device features in a standardised form. The device features include the device name, the bus timing, the available extended services and the selectable modules (telegram types). In order to use the various telegram types, the GSD file must be integrated in the configuration phase of the PROFIBUS network. As well as the standard "Profidrive" profile, this file also contains manufacturer-specific telegram types.
Incorrect configuration data
Communication: Data exchange with acyclic master class 2 connection
Table 2.6 Operational diagnostics
LED 1, yellow Status
Device is exchanging data
Table 2.7 Data exchange

2.2 PROFINET

3
Note:
For technical data and information on topologies and maximum cable lengths see chapter 9.2.

2.2.1 Connections

The connections of the PROFINET interface are shown in table 2.8. LEDs H17, H17 act as status indicators. The PROFINET cable is connected to the RJ45 sockets X47/X48. The two PROFINET connecting sockets are freely configurable in their communication direction.
The PROFINET interface features a 2-port Multiport PHY (Physical Layer Transceiver) supporting the following functionality:
− Autonegotiation (automatic detection of the functionality of the opposite interface)
− Auto Crossing (no cross-over cables are required, so through-going wiring is assured)
− Auto Polarity (the polarity of the Receive cable is automatically adjusted in the event of a wiring error (RecvData+ and RecvData-))
Front panel No. Comments
MSDServoDrive Single-AxisCompact
H17 Status indicator LED (green)
H16 Status indicator LED (red)

2.2.2 Pin assignment of the RJ45 socket

The contacting of eight-pin RJ45 sockets is subject to the EIA/TIA-568A/B standards. Table 2.9 below shows the pin assignment with the corresponding colour code for the EIA/TIA-568B standard.
The two standards differ only in that the two wire pairs 2 and 3 are interchanged.
Pin Colour Cable wire pair Function
1 White/orange 2 TxData +
2 Orange 2 TxData -
3 White/green 3 RecvData +
4 Blue 1 Unused
5 White/blue 1 Unused
6 Green 3 RecvData -
7 White/brown 4 Unused
8 Brown 4 Unused
Table 2.9 Pin assignment of the RJ45 sockets
4
1
2
1234 5678
Table 2.8 PROFINET option card
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Commissioning
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X47/X48 PROFINET cable connection
Figure 2.4
RJ45 socket
MSD Servo Drive User Manual PROFIBUS/PROFINET
13
Commissioning
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ID no.: CA65645-001 Date: 01/2015
2.2.3 Specification of the PROFINET cable
For the cabling Moog recommends using the following hardware:
PROFINET RJ45 connector
Siemens order number 6GK1901-1BB10-2AA0
Siemens article description
Table 2.10 Recommended PROFINET connector
PROFINET cable
Siemens order number 6XV1840-2AH10
Siemens article description
Table 2.11 Recommended PROFINET cable
IE FC RJ45 PLUG 180 2X2, RJ45 CONNECTOR (10/100MBIT/S) WITH ROBUST METAL HOUSING & FC CONNECTION
SIMATIC NET, IE FC TP STANDARD CABLE, GP 2X2 (PROFINET TYPE A)
MSD Servo Drive User Manual PROFIBUS/PROFINET

2.2.4 Meanings of LEDs

The two LEDs at the RJ45 sockets have the following meanings:
LED Function Meaning
Off = no link No link to another device
Green Link / Activity
Yellow RUN
Table 2.12 Meanings of LEDs
On = Link Linked to another device, no data exchange
Blinking = Activity Data exchange active
Off = Initialisation Device in initialisation phase
Blinking = Pre-Operational Device in pre-operational phase
Single Flash = Safe-Operational Device in safe operational phase
On = Operational
Device operational
14

2.2.5 PROFINET option card displays

2.2.6 GSDML file (PROFINET)
Two LEDs are mounted on the PROFINET option card indicating the current operating status of the module. The following tables set out the operating states of the PROFINET option card based on the various illumination sequences.
LED H1, green LED H2, red Status
Reset (after power on)
PROFINET test and initialisation
End of PROFINET test and initialisation
Table 2.13 Self-test during diagnostics
LED H1, green LED H2, red Status
PROFINET ready, no cyclic data exchange with PROFINET master
PROFINET ready, cyclic data exchange with PROFINET master taking place
PROFINET software being loaded
PROFINET master flash function. 3 seconds flashing, 3 seconds lit steadily
Table 2.14 Operational diagnostics
Description of file name
y File name: GSDML-Vx.xx-Moog-MSDServoDrive-date.xml y Vx.xx : GSDML version y Date: Date of creation of the GSDML file
Example: GSDML-V2.25-Moog-MSDServoDrive-20120523.xml
NOTE:
The GSDML file contains the data for the MSDServoDrive (DAP2) and the Single­AxisCompact (DAP3). The required DAP (Data Access Point) must be selected during configuration.
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Commissioning
MSD Servo Drive User Manual PROFIBUS/PROFINET
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MSD Servo Drive User Manual PROFIBUS/PROFINET
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3 Cyclic data transfer

3.1 Parameter process data objects (PPOs)

Communication between a class 1 master and the MSDServoDrive is essentially established in three phases. Firstly the MSDServoDrive is parameterised with the current bus parameters, monitoring times and drive-specific parameters (phase 1). In the configuration phase a configuration sent by the master is compared with the actual MSDServoDrive configuration (phase 2). Once these two phases have been completed successfully, the cyclic user data traffic starts (phase 3).
The various telegram types (parameter process data objects - PPOs) are made available in the GSD file. These PPOs form the basis of the configuration phase. The project engineer knows from the GSD file how many bytes are required for the input and output data for PROFIBUS communication between the master and the MSDServoDrive and can use this information to make settings in a configuration tool. As well as the standard telegrams in accordance with the "PROFIdrive" profile, there are additionally user­specific telegram types. In addition to the process data channel PZD, some user-specific telegrams have a parameter channel PK W.
Abbreviation Designation Number of words
STW1 Control word 1 1
STW2 Control word 2 1
ZSW1 Status word 1 1
ZSW2 Status word 2 1
NSOLL_ A Rotation speed reference 1
NIST_A Actual rotation speed 1
SATZANW Set selection (from driving set table) 1
AKTSATZ Current set selection (from driving set table) 1
XSOLL_A Reference position 2
XIST_A Actual position 2
TARPOS_A Reference target position 2
VELOCITY_A Reference velocity 2
E_DIGITAL Input 1
A_DIGITAL Output 1
Table 3.1 Abbreviations
Standard telegram 1 is a defined telegram type for speed control. It consists of two input words and two output words as shown in the following table.

3.1.1 Standard "PROFIdrive" telegrams

The table below firstly lists the standard PROFIdrive telegrams supported by the MSDServoDrive. The following table explains the abbreviations assigned in the standard telegrams to specific process data channels. The process data channel (abbreviated as PZD) is grouped word-by-word.
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Cyclic data transfer

PZD number 1 2
Reference values STW1 NSOLL_ A
Actual values ZSW1 NIST_A
Standard telegram 7 is a defined telegram type for driving set selection. There are a total of 16 driving sets available for selection in the drive. This telegram type consists of two input words and two output words as shown in the following table.
PZD number 1 2
Reference values STW1 SATZANW
Actual values ZSW1 AKTSATZ
MSD Servo Drive User Manual PROFIBUS/PROFINET
17
Cyclic data transfer
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Standard telegram 8 is a defined telegram type for positioning with the option to preset a positioning velocity. It consists of five input words and five output words as shown in the following table.
PZD number 1 2 3 4 5
Reference values XSOLL_A STW2 NSOLL_A
Actual values XIST_A ZSW2 NIST_A
Standard telegram 9 is a defined telegram type for positioning. It consists of six input words and five output words as shown in the following table.
PZD number 1 2 3 4 5 6
Reference values STW1 TARPOS_A STW2 V ELOCITY_ A
PZD number 1 2 3 4 5
Actual values ZSW1 XIST_A ZSW2 NIST_A
Table 3.2 Standard telegram 9
MSD Servo Drive User Manual PROFIBUS/PROFINET
18
Every standard telegram in the device is described in the GSD or GSDML file as appropriate by a configuration identifier (ID) based on the PROFIdrive profile. The following table lists these identifiers for the selected standard telegrams.
Telegram type
Standard telegram 1
Standard telegram 7
Standard telegram 8
Standard telegram 9
Table 3.3 Identifiers
Data range Identifier (ID) Module ID IRT module ID
2 output words and 2 input words
2 output words and 2 input words
5 output words and 5 input words
6 output words and 5 input words
PROFIBUS PROFINET
0xC3 0xC1 0xC1 0xFD 0x00 0x01
0xC3 0xC1 0xC1 0xFD 0x00 0x07
0xC3 0xC4 0xC4 0xFD 0x00 0x08
0xC3 0xC5 0xC4 0xFD 0x00 0x09
0x01 0x0101
0x07 0x0107
0x08 0x0108
0x09 0x010 9
3.1. 2 User-specific PPOs
As well as the supported standard telegrams, there are additional user-specific parameter process data objects (PPOs). The following PPOs are also transmitted cyclically and in addition to the process data channel PZD in some instances contain a parameter channel PKW enabling access to the drive parameter values.
PPO PKW PZD
1 PKE IND PKW
1
2 PKE IND PKW
1
3* - - - - STW/
4 - - - - STW/
5 PKE IND PKW
1
- - - - STW/
PKE IND PKW
1
- - - - STW/
PKE IND PKW
1
- - - - STW/
(*) PPO3 is the standard tele gram 1
Table 3.4 User-specific parameter process data objects
PKW
2
PKW
2
PKW
2
PKW
2
PKW
2
STW/
ZSW
STW/
ZSW
ZSW
ZSW
STW/
ZSW
ZSW
STW/
ZSW
ZSW
STW/
ZSW
ZSW
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
REFERENCE/
ACTUAL
- - - - - - - -
PZD
3
- - - - - - - -
PZD
3
PZD
3
PZD
3
PZD
3
PZD
3
PZD
3
PZD
3
PZD
4
PZD
4
PZD
4
PZD
4
PZD
4
PZD
4
PZD
4
PZD
4
PZD
5
PZD
5
PZD
5
- - - - - -
- - - - - -
PZD
5
PZD
5
PZD
5
PZD
6
PZD
6
PZD
6
PZD
6
PZD
6
PZD
6
- - - -
- - - -
PZD
7
PZD
7
PZD
7
PZD
7
PZD
8
PZD
8
PZD
8
PZD
8
PZD
9
- -
- -
PZD
9
PZD
10
PZD
10
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ID no.: CA65645-001 Date: 01/2015
Cyclic data transfer
MSD Servo Drive User Manual PROFIBUS/PROFINET
19
Cyclic data transfer
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In the drive parameter list there are two signal tables containing all the process data that can be cyclically read and written for the PROFIBUS communication DPV0. All possible writeable process data signals can be found in signal table P 1284 (COM_DP_ SignalList_Write) and all possible readable process data signals can be found in signal table P 1284 (COM_DP_SignalList_Read). The most important readable and writeable parameters are also documented in chapter 6.
The writeable process data signals can be configured in signal table S 0915 (COM_DP_ PZDSelectionWrite). The available number of writeable process data items is determined by the selected PPO type.
The readable process data signals can be configured in signal table S 0915 (COM_DP_PZDSelectionRead). The available number of readable process data items is likewise determined by the selected PPO type.
When using standard telegrams, the process data signals in the signal tables are automatically configured by the firmware.
Note:
The content of this column applies only to PROFIBUS.
A maximum of 15 process data signals can be mapped. Both single and double words can be used.
The user-specific drive telegram types are described by a configuration identifier (ID) in the GSD file. This describes the structure of the cyclic user data based on a special identifier format shown in the diagram below.
ID no.: CA65645-001 Date: 01/2015
MSD Servo Drive User Manual PROFIBUS/PROFINET
Figure 3.1 Identifier format
After the parameterisation phase, the master sends the drive a configuration telegram containing this special identifier (ID). On receipt of this, the drive compares the data in the configuration telegram with the configuration held in the drive. The identifier determined by the PPO type can be found in the GSD file under the heading "Modules". The following table shows these identifiers for the user-specific telegrams.
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