Moog MSD User Manual

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MSD Servo Drive

User Manual

Single-Axis System

Multi-Axis System

Compact

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MSD Servo Drive User Manual Profibus

Profibus for MSD Servo Drive user manual

Id. no.: CA65645-001, Rev. 2.0

Da te: 0 8 /2011

We reserve the right to make technical changes.

Technical alterations reserved.

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 [e-mail].

This document details the functionality of the following equipment variants:

MSD Servo Drive Single-axis system

MSD Servo Drive Multi-axis system

MSD Servo Drive Compact

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Table of contents

How to use this manual .................................................................. 5

1 General ................................................................................... 7

1.1 Measures for your Safet y ........................................................................................7

1.2 Introduction to Profibus ..........................................................................................7

1.3 System requirements ...............................................................................................7

1.4 Further documentation ...........................................................................................8

2 Commissioning the Profibus Interface ....................................... 9

2.1 Connections and user controls ................................................................................9

2.2 Plug configuration for the P

rofibus

cable..................................................................9

2.3 Bus termination .......................................................................................................10

2.4 Setting the drive address .........................................................................................10

2.5 Operating displays ..................................................................................................11

2.6 GSD file...................................................................................................................11

3 Cyclic data transmission – DPV0 ............................................. 13

3.1 Parameter process data objects (PP O) .....................................................................13

3.1.1 Standard “PROFIdrive” telegrams ................................................................13

3.1.2 User-specific PPOs .......................................................................................15

3.1.3 PKW parameter channel ..............................................................................19

3.2 Master control word ...............................................................................................20

3.2.1 Jog mode spee d mode ................................................................................21

3.2.2 Jog mode positioning mode ........................................................................22

3.2.3 Jog mode reference value parameter ...........................................................22

3.3 Drive status word ....................................................................................................22

3.4 Drive status machine ...............................................................................................24

4 Acyclic data transmission – DPV1 ........................................... 27

4.1 Examples of request and reply telegrams ................................................................32

5 Operating modes ................................................................... 35

5.1 Speed Control .........................................................................................................35

5.2 Speed control circuit and as sociated control parameters .........................................36

5.3 Position control .......................................................................................................37

5.4 Position control circuit and associated control parameters ......................................39

6 Homing ................................................................................. 41

6.1 Homing runs performed by the drive ......................................................................41

6.2 Homing run speed ..................................................................................................41

6.3 Homing run acceleration ......................................................................................... 41

6.4 Zeroing offset .........................................................................................................41

6.5 Homing cams, limit sw itches ...................................................................................41

6.6 Homing run methods .............................................................................................. 43

7 Examples of commissioning using manufacturer-specific

telegrams .............................................................................. 45

7.1 Position control using PP O 5 ...................................................................................45

7.2 Conversion of reference values and actual values using factor group parameters ....46

7.3 Examples for set ting the user factor group..............................................................48

7.4 Speed control using PP O 2 ......................................................................................48

7.4.1 Speed input .................................................................................................49

7.5 Mappable parameters .............................................................................................50

8 Profibus parameters ............................................................... 51

9 Appendix Glossary ................................................................. 53

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How to use this manual

Dear user!

This manual is intended for use by project engineers, commissioning engineers and pro­grammers of drives and automation solutions involving the Profibus fieldbus.
It assumes that you have received appropriate training on Profibus and that you have
access to relevant reference books. We assume that your drive has already been commis­sioned – if not, please first refer to the user manual.

11 General

44 Acyclic data transmission - DPV1

55 Operating modes

66 Homing

Appendix: Glossary, key words directory

33 Cyclic data transmission - DPV0

22 Commissioning the Profibus interface

77 Commissioning examples

88 Profibus parameters

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Pictograms

Attention! Incorr ect operatio n may damage the driv e or cause it to malfunc­tion.

Danger from ele ctrical tensio n! Improper conduc t may endanger human life.

Danger from rotat ing parts! The dr ive may start up a utomatically.

Note: Useful information

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[ Kapitel 1 ]

1 General

1.1 Measures for your Safety

Servo controllers of the MSD Ser vo 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 Operating Manual firs t!

1.

• F ollow the safet y instruction s!

Electric dr ives are subjec t to certain hazar ds:

• Ele ctric voltages > 230 V/460 V:
Dangerously hig h voltages may st ill be present 10 minutes af ter the power
is switched of f. so always make sure the sy stem is no longer li ve!

• Rotating par ts

• H ot surfaces

Your qualification:

• I n order to prevent per sonal injury or d amage to proper ty, only personn el
with elect rical engineer ing qualificatio ns may work on the devi ce.

• K nowledge of the na tional accident pre vention regulati ons (such as VBG4
in Germany)

• K nowledge of st ructure and net working using the C AN fieldbus

U

V

N

L+

RB

L-

L3

L2

L1

U

V

N

L+

RB

L-

L3

L2

L1

During installation observe the following instructions:

• A lways comply wit h the connectio n conditions and tec hnical specifi cations.

• Sta ndards for elect rical installa tion, e.g. cable cross -section s, screening etc.

• Do n ot touch electr onic component s and contact s (electrosta tic discharge

may destroy comp onents)

1.2 Introduction to Profibus

The Profibus implementation in MSD Ser vo Drive is based on the PROFIdrive profile
“Profibus PROFdrive profile version 4.0” dated August 2005.

Performance features in key words

– Data transmission using two-wire twisted pair cable (RS 485)

– Transmission rate: optionally 9.6 K, 19.2 K, 45.45 K, 93.75 K, 187.5 K, 500 K,

1.5 M, 3 M, 6 M or 12 MBaud

– Automatic Baud rate detection

– Profibus address can be set using the rotar y coding switches or alternatively

using the addressing parameters

– Cyclic data exchange reference and actual values using DPV0

– Acyclic data exchange using DPV1

– Synchronisation of all connected drives using freeze mode and sync mode

– Reading and writing drive parameters using the PKW channel or DPV1

1.3 System requirements

It is assumed that you have access to a standard Profibus set-up program or a Profibus
interface driver.

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1.4 Further documentation

• User manual for commissioning the drive device

• User manual for further parameterisation to customise the application.

• The User Manual can be downloaded as a PDF file from the Product DVD, which is
enclosed the MSD Servo Drive.

• CiA 301 (Rev. 4.0): Application Layer and Communication Profile

• CiA 402 (Rev. 2.0): Device Profile Drives and Motion Control

• Profibus User Organisation „Profidrive - Profil Drive Technology for Profibus and
Profinet“ Version 4.1, May 2006, Order no. 3.172

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[ Chapter 2 ]

2 Commissioning the

Profibus Interface

2.1 Connections and user controls

The connections and user controls for the Profibus interface are shown schematically
in Figure 2-1. The LEDs H1, H2, H3 act as status indicators. The rotary coding switches
S1 and S2 can be used to set the Profibus address for the drive. The Profibus cable is
connected to the plug X14.

Front plate No. Comments

H1 LED for status ind ication (yell ow)

H2 LED for status indicati on (red)

H3 LED for status indicati on (green)

S1

Rotary codi ng switch for set ting the Profibus addres s for the
drive = 0x(S2)(S1)

S2

Rotary codi ng switch for set ting the Profibus addres s for the
drive = 0x(S2)(S1)

X14 Profibus cable connection

Table 2.1 Profibus options card

2.2 Plug configuration for the Profibus cable

The Profibus is connected using a nine-pin sub-D plug. The pin assignment is shown in
Fig. 2-2 and described in Table 2.1.

Figure 2.1

X14

12345

6789

RxD

TxD-P

DGND

RxD

TxD-N

VP

5 Volt

Pin assignment of sub-D-plug connector

PIN RS-485 Signal Description

1 SHIELD Earthed shield

2 RP Reserve d for power supply via t he bus

3 B/B’ (red) RxD / TxD-P Send and receiv e data (+)

4 CNTR- P Control signal for rep eater (+)

5 C/C’ DGND

Data reference pote ntial and power supp ly to
terminating resistor (-)

6 VP Po wer supply for termin ating resistor (+)

7 RP Reserve d for power supply via t he bus

8 A/ A’ (gre en) RxD / TxD- N Send and receive dat a (-)

9 CNTR- N Control signal for rep eater (-)

Table 2.2 Description of pin assignment

The pin assignments shown with dark backgrounds in the table are not necessary from
the user’s point of view. The control signals used for the repeaters are optional, and the
power supply for the terminating resistors is provided by the device.

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2.3 Bus termination

If the servo controller 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 EIA-4 85 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 Sub­D 9-pin plug bus termination.

Figure 2.2

Plug

Profibus cable

Device

Vp = 5 Volt (6)

RxD TxD-P (3)

RxD TxD-N (8)

GND (6)

Ru = 390 Ohm

Rt = 220 Ohm

Rd = 390 Ohm

B (red)

A (green)

Sub-D 9-pin plug bus termination

2.4 Setting the drive address

The drive address can be set as standard using the rotary coding switches on the options
card (see Fig. 2-1). The address range runs from 0 to 125. The drive address is not loaded
until a 24 Volt reset has been applied to the device.

The drive address can also be assigned using parameter P 0918 COM_DP_Address.
For this purpose the rotary coding switches must be set to value in excess of 125.
The drive address set by software address is not loaded until a 24 Volt reset has been
applied to the device.

In the MSD Servo Drive Compact the address cannot be set using the switches.

On all devices the bus address can also be set using the buttons on the device, see ope­rating instructions for MSD Servo Drive Compact.

Diagnostics can be performed on the MSD Servo Drive Compact using the internal
control unit in the device. The control unit comprises the following elements that are all
positioned on the front:

• 2-digit 7-segment display (1, 2)

• 2 buttons (3, 4)

Figure 2.3

1

2

3
4

Integrated control unit MSD Servo Drive Compact

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[ Chapter 2 ]

The following functions and indications are available:

• Indication of the device status
The device status is indicated after switching on the control supply. If an entry is
not made using the buttons for 60 seconds, the display returns to the display of
the device status.

• Indication of the device error status
On the occurrence of an error in the device, the display is immediately switched to
the indication of the error code.

• Parameter setting (indication „PA“)
Reset the device parameter settings to the factory setting

• Ethernet IP address setting (indication „IP“)
Setting for the Ethernet IP address as well as the subnet mask

• Fieldbus settings (indication „Fb“)
Setting e.g. for the fieldbus address

2.5 Operating displays

Options module: Three LEDs are mounted on the options card; these give indications
regarding the current operating status of the module. In Tables 2-2 and 2-3 the opera­ting statuses of the Profibus module are listed, based on the various LED illumination
combinations.

LED 1, green LED 2, red Status

Reset (after s witching on)

ASIC RA M test and initialisation

End of ASIC R AM test and initialisation

Table 2.3 Selftest during diagnostic

LED 1, green LED 2, red Status

Seeking Baud rat e after switching o n without bus
connection

Seeking Baud rat e after the bus conne ction has
already been established

Awaiting parameterisation data

Table 2.4 Operation diagnostics

LED 1, green LED 2, red Status

Communication: Data e xchange without a cyclic
master class 2 con nection. Yellow LED li ghts up.

Communication: Data exchange “clear state”

Incorrect parameterisation data

Incorrect configuration data

Communication: Data e xchange with ac yclic
master class 2 connection.

Table 2.4 Operation diagnostics

LED 3, yellow Status

Device is exchanging data

Table 2.5 Data exchange

2.6 GSD file

The device master data file contains the summary of the device features in a standar­dised form. The device features include for instance the device name, the bus timing,
the extended services available and the modules that can be selected (telegram types).
In order to use different telegram types, the GSD file must be linked in at the configura­tion phase of the Profibus network. This file contains, as well as the standard “Profidrive
Profile” telegrams, additional manufacturer-specific telegram types.

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[ Chapter 3 ]

3 Cyclic data transmission –

DPV0

3.1 Parameter process data objects (PPO)

The establishment of communications between a class 1 master and the
MSD Servo Drive servo controller is essentially performed 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 - PPO) are prepared 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 servo controller and can use this
information to perform his settings in the configuration tool. As well as the standard
telegrams in accordance with the “PROFIdrive – Profile”, there are additional user­specific telegram types. In addition to the PZD process data channel, the user-specific
telegram make partial use of a PKW parameter channel.

3.1.1 Standard “PROFIdrive” telegrams

The table below lists firstly the standard “Profidrive” telegrams that are supported by the
servo controller. Table 3-1 explains the abbreviations used to assign standard telegrams
to a specific process data channel. The process data channel (abbreviated to PZD) is
grouped by words.

Abbreviation Name 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 Speed reference 1

NIST_ A Actual speed 1

SAT ZA NW Set selec tion (from the drivi ng set table) 1

AK TSAT Z Current set selectio n (from the driving se t

table)

1

XSOLL_A Reference position 2

XIST_ A Actual position 2

TARP OS_A Reference destination position 2

VEL OCI TY_ A Reference speed 2

Figure 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.

PZD number 1 2

Reference values STW1 NSOLL_A

PZD number 1 2

Actual values ZSW1 NIST_ A

Table 3.1 Standard telegram 1

Standard telegram 7 is a defined telegram type for selecting the driving set. In total 16
driving sets saved in the drive can be selected. The telegram type comprises 2 input
words and two output words as in the following table.

PZD number 1 2

Reference values STW1 SAT ZA NW

PZD number 1 2

Actual values ZSW1 AK TSATZ

Table 3.2 Standard telegram 7

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Standard telegram 8 is a defined telegram type for positioning with the facility for spe­cifying a positioning speed. It consists of 5 input words and 5 output words as shown in
the following table.

PZD number 1 2 3 4 5

Reference values XSOLL_A STW2 NSOLL_ A

PZD number 1 2 3 4 5

Actual values XIST_ A ZSW2 NI ST_A

Table 3.3 Standard telegram 8

Standard telegram 9 is a defined telegram type for positioning. It consists of 6 input
words and five output words as shown in the following table.

PZD number 1 2 3 4 5 6

Reference values STW1 TARPO S_A STW2 VE LOCI TY_A

PZD number 1 2 3 4 5

Actual values ZSW1 XI ST_A ZSW2 NI ST_A

Table 3.4 Standard telegram 9

Every standard telegram in the device is described in the GSD file by a PROFIdrive Profile
configuration identifier (ID). The following table shows these identifiers for the selec ted
standard telegrams.

Telegram type Data area Identifier (ID)

Standard telegram 1 2 output words and 2 input words 0xC3 0xC1 0xC1 0xFD 0x00 0x01

Standard telegram 7 2 output words and 2 input words 0xC3 0xC1 0xC1 0xFD 0x00 0x07

Standard telegram 8 5 output words and 5 input words 0xC3 0xC4 0xC4 0xFD 0x00 0x08

Standard telegram 9 6 output words and 5 input words 0xC3 0xC5 0xC4 0xFD 0x00 0x09

Table 3.5 Identifier

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[ Chapter 3 ]

3.1. 2 User-specific PPOs

As well as the standard telegrams that are supported there are in addition further user­specific PPOs (Parameter Process data Objects). The following PPOs are also transmitted
cyclically and in addition to the PZD process data channel partially contain a PKW para­meter channel, thereby allowing access to the drive parameter values.

PPO PKW PZD

1 PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

- - - - - - - -

2 PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

- - - -

3* - - - - ST W/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

- - - - - - - -

4 - - - - STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

- - - -

5 PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

PZD

9

PZD

10

- - - - ST W/
ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

- - - - - -

PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

- - - - - -

- - - - ST W/
ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

- -

PKE IND PKW

1

PKW 2STW/

ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

- -

- - - - ST W/
ZSW

REFERENCE VALUE /

ACTUAL VALUE

PZD

3

PZD

4

PZD

5

PZD

6

PZD

7

PZD

8

PZD

9

PZD

10

(*) PPO3 is the standard te legram 1

Table 3.6 User-specific Parameter Process data Objects

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In the drive parameter list there exist two signal tables, which contain all the process
data that can be cyclically read and written for the Profibus communications DPV0. All
possible process data signals that can be written can be found in the signal table
P 1284 COM_DP_SignalList_Write and all possible process data signals that can be read
can be found in the signal table P 1285 COM_DP_SignalList_Read. The most important
parameters that can be read and written are also documented in Chapter 6.

The process data signals that can be writ ten can be configured in the signal table
P 0915 COM_DP_PZDSelectionWrite. The number of process data available to be written
are determined by the PPO type that is selected.

The process data signals that can be read can be configured in the signal table
P 0916 COM_DP_PZDSelectionRead. The number of process data available to be read are
also determined by the PPO type that is selected.

When using standard telegrams the process data signals in the signal tables are automa­tically configured by the firmware.

A maximum of 15 process data signals can be „mapped“. Here both words 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 report data using a special identifi­cation format shown in the figure below.

Figure 3.2 Identification format (Identifier)

After the parameterisation phase, the master sends the drive a configuration telegram
containing this special identification (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.

Length of the data
00 = 1 byte/word
15 = 16 bytes/words

Input/Output

00 = specic identication format

01 = input
10 = output
11 = input/output

0 = byte, 1 = word

0 = consistency over byte/word
1 = consistency over the overall

length

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[ Chapter 3 ]

PPO

type

Identifier

(ID) Hex

Identifier

(ID) Bin

Evaluation using the special identification format (Figure 3.6)

Reference to Table AK

slave-master

1

0xF3
0xF1

1111 0 011
1111 0 001

4 words input /output data (consistent overall leng th)2 words input /output
data (consistent overall length)

PKW channel

2

0xF3
0xF5

1111 0 011
1111 0 101

4 words input /output data (consistent overall leng th)6 words input /output
data (consistent overall length)

PZD channel

3 0 xF1 1111 0 001 2 words input /output data (consistent overall l ength) PKW channel

4 0xF5 1111 0101 6 words input /output data (consistent overall le ngth) PZD channel

5

0xF3
0xF9

1111 0 011
1111 1 00 1

4 words input /output data (consistent overall leng th)10 words input/outpu t
data (consistent overall length)

PZD channel

0xF3 1111 0 011 4 words inpu t/output dat a (consistent overall l ength) PZD channel

0xF3
0xF3

1111 0 011

1111 0 011

4 words input /output data (consistent overall leng th)4 words input /output
data (consistent overall length)

PKW channel

0xF7 1111 0111 8 words input /output data (consis tent overall length) PZD chann el

0xF3
0xF7

1111 0 111

1111 0 111

4 words input /output data (consistent overall leng th)8 words input /output
data (consistent overall length)

PZD channel

0xF9 1111 10 01 10 words input /output data (consis tent overall length) PKW channel

0xC0
0xCD
0xCD

14 words input/ou tput data (consistent o verall length) PZD channel

0xF3
0xC0
0xCD
0xCD

14 words input/ou tput data (consistent o verall length) PZD channel

0xC0
0xD1
0xD1

18 words input/ou tput data (consiste nt overall length) PK W channel

0xF3
0xC0
0xD1
0xD1

18 words input/ou tput data (consiste nt overall length) PZD channel

0xC0
0xD5
0xD5

22 words input /output data (consistent overall len gth) PZD channel

0xF3
0xC0
0xD5
0xD5

22 words input /output data (consistent overall len gth) PKW channel

Table 3.7 Listing of identifiers

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PPO
type

Identifier

(ID) Hex

Identifier

(ID) Bin

Evaluation using the special identification format (Figure 3.6)

Reference to Table AK

slave-master

0xC0
0xD9
0xD9

26 words input /output data (consis tent overall length)

0xF3
0xC0
0xD9
0xD9

26 words input /output data (consis tent overall length) PK W channel

0xC0

0xDD
0xDD

30 words input /output data (consistent overall le ngth)

0xF3
0xC0

0xDD
0xDD

30 words input /output data (consistent overall le ngth) PKW channel

Table 3.7 Listing of identifiers