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MSD Servo Drive

User Manual

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Single Axis System

Multi Axis System

Compact

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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

MSD Servo Drive User Manual CANopen/EtherCAT

CANopen/EtherCAT for MSD Servo Drive User Manual

ID no.: CA65647-001, Rev. 1.0

Status: 03/2012

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 drives-support@moog.com.

How to use the document

Dear User,

This manual is intended for project engineers, commissioning engineers or programmers of drive and automation solutions on the CANopen and EtherCAT ﬁeldbus.

It is assumed that you are already familiar with these ﬁeldbus systems through appropriate training and from reading the relevant literature. We assume that your drive is already in operation – if not, you should ﬁrst consult the Operation Manual.

NOTE: This manual applies to the MSD Servo Drive family.

General introduction

Mounting and connection of CANopen

Mounting and Connection of EtherCAT

Commissioning and Configuration CANop.

Setting the Device Parameters for CANopen

Setting the Device Parameters for EtherCAT

Implemented CiA402 functionality

Operation modes CiA402

Emergency objects

Technology functions

EDS file, object directory, parameter list

Bibliography

Appendix: Glossary

1010

1111

1212

1313

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MSD Servo Drive User Manual CANopen/EtherCAT

moog

Pictograms

MSD Servo Drive User Manual CANopen/EtherCAT

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.

Table of Contents

Drive ADmi nistr Ator

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

1.1 Measures for your safety .........................................................................................7

1.2 Introduction to CANopen .......................................................................................7

1.3 Introduction to EtherCAT ........................................................................................8

1.4 System requirements ...............................................................................................8

1.5 Further documentation ........................................................................................... 8

2 Mounting and Connection of CANopen ................................... 9

2.1 Setting the address .................................................................................................9

2.2 Meanings of LEDs ...................................................................................................10

2.3 Installation ..............................................................................................................11

2.4 Transmission speeds ................................................................................................12

2.5 Display of operating states via 7-segment display ....................................................13

2.6 Hardware enable ....................................................................................................13

3 Mounting and Connection of EtherCAT ................................. 15

3.1 Installation and cabling ...........................................................................................15

3.2 Pin assignment of the RJ45 socket ..........................................................................16

3.3 Meanings of LEDs ...................................................................................................16

3.4 Display of operating statuses via 7-segment display ................................................17

3.5 Hardware enable ....................................................................................................18

4 Commissioning and Conﬁguration of CANopen ..................... 19

4.1 General commissioning of CANopen/EtherCAT ......................................................19

4.1.1 Commissioning ............................................................................................19

4.1.2 Commissioning sequence ............................................................................19

4.1.3 Commissioning via Moog

4.1.4 Operation mode selection (modes of operation) ..........................................20

4.1.5 Functionality of operation modes ................................................................20

4.1.6 Setting the timing parameters .....................................................................21

4.2 CAN-speciﬁc conﬁguration .....................................................................................21

4.2.1 Setting the software address and baud rate ................................................21

4.2.2 Commissioning instructions .........................................................................21

4.2.3 Testing the higher-order drive ......................................................................22

4.2.4 Data handling ..............................................................................................22

4.2.5 Control functions .........................................................................................22

4.3 Commissioning and Conﬁguration of EtherCAT ......................................................23

................................................20

5 Setting the Device Parameters for CANopen .......................... 25

5.1 Implemented CiA301 functionality .........................................................................25

5.1.1 Communication objects ...............................................................................25

5.1.2 Object directory of CiA301 ..........................................................................25

5.2 Parameter channel (Ser vice Data Objects) ...............................................................26

5.2.1 Data types ...................................................................................................27

5.2.2 Representation of data types in the control protocol ...................................27

5.2.3 Access to device parameters ........................................................................27

5.3 Examples of SDO handling ......................................................................................28

5.3.1 Parameter set download ..............................................................................31

5.4 PDO transmission types ........................................................................................... 32

5.5 Event-controlled TxPDO transmission...........................................................32

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MSD Servo Drive User Manual CANopen/EtherCAT

moog

MSD Servo Drive User Manual CANopen/EtherCAT

5.6 PDO mapping .........................................................................................................33

5.6.1 Mapping – general ......................................................................................33

5.6.2 Mapping notes ............................................................................................33

5.7 Heartbeat function .................................................................................................34

5.8 Monitoring of telegram failure ................................................................................35

6 Setting the Device Parameters for EtherCAT ........................... 37

6.1 Supported EtherCAT functionality ...........................................................................37

6.2 Conﬁguration for operation in a drive .....................................................................40

7 Implemented CiA402 functionality ......................................... 41

7.1 Device control and state machine ...........................................................................41

7.1.1 General information ....................................................................................41

7.1.2 State machine ..............................................................................................41

7.1.3 Device states ................................................................................................42

7.2 Option codes ..........................................................................................................44

7.3 Device control objects ............................................................................................. 44

7.4 Units and scalings, factor group .............................................................................. 45

7.5 I/O map ...................................................................................................................47

7.5.1 Object 60FDh – digital inputs ......................................................................47

7.5.2 Object 2079h – MPRO_ INPUT_STATE ..........................................................47

7.5.3 Object 208Fh – MRPO_OUTPUT_STATE.......................................................47

7.5.4 Setting digital outputs via ﬁeldbus ...............................................................48

7.5.5 Object 60FE, digital outputs: .......................................................................48

8 Operation modes CiA402 ...................................................... 49

8.1 CiA402 compatible operation modes ......................................................................49

8.1.1 Conﬁguring MSD Servo Drive for activation via CiA402 ...............................49

8.1.2 Control word CiA402 ..................................................................................49

8.1.3 Status word CiA402 ....................................................................................51

8.2 Operation modes with proﬁle generation in drive ...................................................52

8.2.1 Proﬁle velocity mode ...................................................................................52

8.2.2 Homing mode .............................................................................................54

8.2.3 Proﬁle position mode ...................................................................................55

8.2.4 Velocity mode (V/F mode) ............................................................................57

8.3 Cyclical operation modes, proﬁle generation in the drive ........................................58

8.3.1 Interpolated position mode .........................................................................58

8.3.2 Cyclic Synchronous Position mode (EtherCAT only) ......................................59

8.3.3 Cyclic Synchronous Velocity mode (EtherCAT only) ......................................60

8.3.4 Cyclic Synchronous Torque mode (EtherCAT only)........................................61

8.3.5 External pre-control of speed/torque ...........................................................61

9 Emergency objects ................................................................. 63

9.1 Error acknowledgement, general ............................................................................63

9.2 Error acknowledgement via bus system ..................................................................63

10 Technology functions ............................................................. 65

10.1 Touch probe ............................................................................................................65

10.1.1 Description of manufacturer-speciﬁc implementation ..................................65

10.1.2 Control-led homing .....................................................................................66

10.2 Indexing table function ...........................................................................................66

11 EDS ﬁle, object directory, parameter list.................................. 69

11.1 EDS ﬁle, object directory .........................................................................................69

12 Bibliography........................................................................... 71

1 General Introduction

1.1 Measures for your safety

1.2 Introduction to CANopen

CANopen is an interconnection concept based on the CAN (Controller Area Network) serial bus system. CAN has many speciﬁc advantages, in particular multi-master capability, real-time capability, resistant response to electromagnetic interference, a high level of availability and the low cost of drive chips. These advantages have resulted in CAN being introduced into widespread use in automation too.

The MSD Servo Drives quick and safe 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!

• Follow the safety instructions!

Electric drives are dangerous:

• Electrical voltages > 230 V/460 V: Dangerously high voltages may still be present 10 minutes after the power is cut, so always make sure the system is no longer live.

• Rotating parts.

• Hot surfaces.

Your qualiﬁcation:

• In order to prevent personal injury and damage to property, only qualiﬁed electrical engineers may work on the device.

• Knowledge of national accident prevention regulations (e.g. VBG4 in Germany).

• Knowledge of layout and interconnection with the CAN bus ﬁeldbus.

L+

L-

During installation observe the following instructions:

• Always comply with the connection conditions and technical speciﬁcations.

• Electrical installation standards, e.g. for cable cross-section, shielding etc.

• Do not touch electronic components and contacts (elec trostatic discharge

may destroy components).

Simpliﬁed cross-manufacturer communication

The integration of any number of devices in a manufacturer-speciﬁc network involves substantial expense. CANopen was developed to solve this problem. In CANopen the use of CAN identiﬁers (message addresses), the time response on the bus, the network management (e.g. system start and user monitoring) and the coding of the data contents is speciﬁed in a uniform way. CANopen makes it possible for devices from different manufacturers to communicate in a network at minimal cost. CANopen uses a subset of the communication services offered by CAL to deﬁne an open interface. The selected CAL services are summarised in a kind of "user guide". This guide is called the CANopen Communication Proﬁle.

CANopen functionality of MSD Servo Drive

The CANopen Communication Proﬁle is documented in CiA301 and regulates the way communication is executed. It distinguishes between process data objects (PDOs) and service data objects (SDOs). The Communication Proﬁle additionally deﬁnes a simpliﬁed network management system.

The device proﬁle for CiA402 (Rev. 2.0) variable-speed drives was compiled on the basis of the CiA301 (Rev. 4.01) communication services. It describes the operation modes and device parameters supported.

The following sections will provide you with an overview of the CANopen functionality integrated in MSD Servo Drive, followed by the information necessary for commissioning.

[ Section 1 ]

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MSD Servo Drive User Manual CANopen/EtherCAT

moog

MSD Servo Drive User Manual CANopen/EtherCAT

1.3 Introduction to EtherCAT

As far as real-time Ethernet systems are concerned, EtherCAT has become well established in the area of automation. The decisive factor here is not only the IEEE 802.3/ 100BaseTX Ethernet physics known in the home ofﬁce area, but also the excellent value for money with regard to implementation in the master and slave modules.

Interconnection can be executed as required in a star, ring or line structure using standard patch or crossover cables and is therefore easily adapted to the machine infrastructure.

To reduce the amount of training required, familiar communication and device proﬁles were used as of the application layer. In this way, users familiar with CANopen proﬁles such as CiA301 or CiA402 can change over to this new ﬁeldbus technology with minimal training.

In MSD Servo Drive we have combined all our past experience in the CANopen area with this new ﬁeldbus technology and achieved maximum compatibility and functionality.

1.4 System requirements

It is assumed you have a standard CANopen setup program and a CANopen interface dr iver.

For the precise protocol deﬁnitions, please refer to the CAL speciﬁcation.

With the aid of these objects it is possible to conﬁgure the actual CANopen communication very ﬂexibly and adapt it to the speciﬁc needs of the user.

• EtherCAT Communication Speciﬁcation Version 1.0 2004

• EtherCAT Indicator Speciﬁcation Proposal V0.91 2005

• IEC 61158-2-12 to IEC 61158-6-12

1.5 Further documentation

• Operation manual, for commissioning of the drive unit

• Application manual, for additional parameter setting to adapt to the application.

• CiA301 (Rev. 4.0): Application Layer and Communication Proﬁle

• CiA402 (Rev. 2.0): Device Proﬁle Drives and Motion Control

2 Mounting and Connection

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

of CANopen

ATTENTION: Do NOT insert or remove the CANopen connector during

operation.

2.1 Setting the address

Step Action Note

Find out which address is assigned to the device you are installing.

Select the mode of addressing:

• by bus address parameter

• by DIP switch (S4)

• by bus address parameter and DIP

switch (S4)

Address setting ﬁnished; for further procedure see Installation.

Ask your project engineer.

See below

Three possible methods of address allocation

1. Only using bus address parameter P 2005-COM_CAN_Adr: You will ﬁnd parameter P 2005-COM_CAN_Adr (factory setting 1) in the "ﬁeldbus" subject area under CANopen.

2. Only using DIP switch S4

3. Combination of bus address parameter and DIP switch S4 CAN address = hardware address (S4) + parameter P 2005-COM_CAN_Adr. This option is advanta- geous if, for example, you intend always to use the same parameter set with up to 15 drives, but the lowest address is 30. Parameter P 2005-COM_CAN_Adr is then set to 30. The device address is then deﬁned using the coding switch, which ranges from 0-15.

J+

J-

J+

J-

J+

J-

J+

J-

REL

ISDSH ISD06 ISD05

ISD04

ISD03 ISD02 ISD01 ISD00 +24 V DGND

ACHTUNG

Kondensatorenent-

Betriebsanleitung

WARNING

Capacitor discharge

Pay attention to the

operation manual!

RSH

ENPO

OSD02

OSD01

OSD00

ISA1-

ISA1+

ISA0-

ISA0+

+24 V

DGND

ladezeit > 3 min.

beachten!

time > 3 min.

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Out:

Ind. Co

00.0

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nt. Eq.

SN.:

Fig. 2.1

moog

Position of CAN connection on MSD Servo Drive

MSD Servo Drive User Manual CANopen/EtherCAT

[ Section 2 ]

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MSD Servo Drive User Manual CANopen/EtherCAT

Address setting using DIP switch

An address between 0 and 127 can be selected decimally using DIP switch S4 on the position drive.

The DIP switch is assigned as follows: Positions 1-7 are reserved for the address setting, position 8 for the activation/deactivation of the 120 Ohm bus termination in the device.

Function/assignment:

DIP switch 1  signiﬁcance 20 = 1

DIP switch 2  signiﬁcance 2

DIP switch 3  signiﬁcance 2

= 2

= 4

...

DIP switch 7  signiﬁcance 2

= 64

DIP switch 8 = bus termination ON/OFF

12345678

Fig. 2.2

Device with CANopen Option

Example of use of the DIP switches:

Setting address "3" using the DIP switches:

-  Set switch 1 and switch 2 to ON

-  2

+ 21 = 3

-  Resulting device address = 3

-  (If the software address = 0 is set)

IMPORTANT: Switch 8 = bus termination!

Note: Changes to the CAN address are applied on a

- Reset node command

- Restart (device power-up).

Note: The active bus address can be found in the boot-up message.

2.2 Meanings of LEDs

The CAN option of MSD Servo Drive has two diagnostic LEDs (H14, H15).

ACHTUNG

Kondensatorenent-

ladezeit >3 min.

Betriebsanleitung

beachten!

WARNING

Capacitordischarge

Pay attentionto the

time> 3 min.

operation m

Fig. 2.3 Device with CANopen Option

1 2 3 4 5 6 7 8

anual!

The LEDs have the following function:

LED Function Meaning

The LED displays the current network status.

• NMT STOPPED

H14 (yellow LED)

CANopen network status

• NMT PRE-OPERATIONAL

• NMT OPERATIONAL

H15 (green LED)

Voltage supply CAN option

Permanently lit if the 24 V supply is

powering the CAN option via the CAN bus.

Table 2.1 Meanings of LEDs

2.3 Installation

Step Action Note

 ﬂashing with 800 ms cycle

 ﬂashing with 1600 ms cycle

 permanently lit.

24 VDC

L-

CAN-Bus

L+

SPS/PLC

REL

S H

ENPO

ISD

OSD02

ISD

OSD01

D 03

OSD00

IS D02

IS A

D01

ISA

D00

+24

A 0-

ISA

+ 2 4

V D G ND

1 5

ACHTUNG

Kon d

e n satore

lad

Bet

eze

e t

iebsa

n >

t3 m

leitun

ach

WARNING

ten!

a pacit

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disch P a y

im atte

arg e

nti

rat

i n.

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to t m

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3 2

12345678910

1234

5678910

1112 1314

1112 1314 15 16 17 18 1920

1516 17 18 1920

3 L 3

2 L 1

J+

J-

J+

J-

J+

J-

J+

REL

1 23

ISD

ISD 05

ISD 04

ISD 03

IS D02

IS D01

IS D00

+24

D G N

3 5 6 3 www 3

hna . M l u

st-

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. 00

6. 0 00

000

I nd

0.0

. C

E q .

N.:

ACHTUNG

Kond

satore lad Bet

eze

bsa

WARNING

C a pacit

disch P a y

im atte op

nti e

rat

2 L 1

J+

J-

J+

J-

J+

J-

J+

R S

ENPO

OSD02

OSD01

OSD00

ISA

+ 2

V D

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. itun ach

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Make sure the hardware enable is wired on MSD Servo Drive (X4).

Wire the CAN connection using connector X32

• Connection of CAN signal cables

• Connection of interface power supply

• Activation of the internal bus terminating resistor

on the ﬁnal servo drive

• See Operation Manual

See Speciﬁcation of CAN bus connection table and A ssignment of connection X19 table

Switch on the drive device.

Electrical installation is ﬁnished; for how to proceed further, refer to section 4 "Commissioning and conﬁguration".

The CANopen interface is integrated in MSD Servo Drive. The connection is made via 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

[ Section 2 ]

Fig. 2.4

System connection

Connection Spring-type terminal

Wave terminating resistor

- Bus termination -

Max. input frequency 1 MHz

Ext. voltage supply

Voltage ripple Max. 3 Vss

Power consumption Max. 50 mA per user

Cable type 4-wire, surge impedance 120 W

• 120 W (internal)

• Activation of the bus termination in the device via

switch 8 on the CAN option

+24 V +25%, 50 mA (isolated from servo drive)

Table 2.2 Speciﬁcation of CAN bus connection

MSD Servo Drive User Manual CANopen/EtherCAT

moog

MSD Servo Drive User Manual CANopen/EtherCAT

Terminal X32 PIN PIN Function Description

10 5 CAN_+24 V External 24 V supply

9 4 CAN_H CAN High

8 3 CAN_SHLD CAN Shield (optional)

7 2 CAN_L CAN Low

6 1 CAN_GND CAN Ground (0V)

Table 2.3 Assignment of connection X19

NOTE: Both connectors on terminal X32 are connected to each other in

the device.

NOTE: The external 24 V supply for the option board is essential. It is not

2.4 Transmission speeds

The CAN bus can be operated at the following baud rates:

Transmission speed

1000 kBaud 25 m • Factory setting

500 kBaud 100 m

250 kBaud

125 kBaud

50 kBaud

20 kBaud

1) Rounde d bus length estimation (worst case) on basis 5 ns /m propagation delay and a t otal effe ctive device interna l in-out delay as follows: 1M–800 kbit/s: 210 ns 500–250 kbit/s: 3 00 ns (includes 2 * 40 ns for optocouplers) 125 kbit/s: 450 ns (includes 2 * 100 ns for optocouple rs) 50–10 kbit/s: Effective delay = delay recessive to dominant plus dominant to recessi ve divided by two.

2) For a bus length gre ater than abo ut 200 m, the us e of optocouplers is recommende d. If optocouplers ar e placed between the CAN Co ntroller and the transce iver this af fects the maximum bus length d epending upon the propagation delay of the optocouplers, i.e. - 4 m per 10 ns prop agation de lay of employed optocoupler typ e.

3) For a bus length gre ater than abo ut 1 km, bridge or repeater device s may be need ed.

Table 2.4 Transmission speeds

When selecting the transmission rate it should, however, be ensured that the line length does not exceed the permissible line length for the transmission rate in question.

Maximum line length

over the entire network

250 m

500 m

1000 m

2500 m

2.5 Display of operating states via 7-segment display

Example of the ﬂash sequence:

 ER > 02 > 05 * ER > 02 > 05 ...

D1 D2 Meaning Parameter

System statuses

S.*) 1.

S.*) 2.

E R

The following appear alternately in the event of error

E R. X X Y Y

1) S. ﬂashes if t he STO (Safe Torqu e Off) functio n is active; the display is not lit if the func tion is not ac tive. *) This is not a "safe display" under the terms of EN 61800-5-2.

2) The point ﬂashes if the power stage is active.

Device in reset status

Auto-initialisation on device startup (Start)

1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn)

1) Starting lockout (DC link is OK, power stage not ready)

Ready to switch on (power stage is ready) (ReadyToSwitchOn)

On (power is connected to the device)

Drive ready (current applied to drive and drive ready for input of setpoint)

Quick stop

Fault response active

Fault (see below) (Fault)

Display for errors or non-acknowledgeable errors

Error number (decimal)

Error localisation (decimal)

(SwitchOnDisabled)

(SwitchedOn)

(OperationEnable)

(QuickStopActive)

(FaultReactionActive)

Error: ER = "Fault"

Error name: 02 = "Error in the parameter list"

Description of error: 05 = "Function for checking current parameter list"

2.6 Hardware enable

MSD Servo Drive has a control input for ENPO hardware enable on the control terminal. This input must be conﬁgured to operate the power stage at 24 V.

The device also provides the function "STO (Safe Torque Off)" (see Operation Manual or Application Manual MSD Servo Drive), category 3, control terminal ISDSH. For these devices the relevant function logic must be implemented by way of the higher-order drive as per the Application Manual.

NOTE: When the inputs ENPO and ISDSH are not conﬁgured, the device stays

in status 1 = "Not Ready to Switch On" or 2 = "Switch On Disabled". Only after correct conﬁguration can the status be exited by a "Shutdown" command via bus.

moog

[ Section 2 ]

MSD Servo Drive User Manual CANopen/EtherCAT

moog

MSD Servo Drive User Manual CANopen/EtherCAT

3 Mounting and Connection

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

of EtherCAT

3.1 Installation and cabling

Setup of the EtherCAT network

In an EtherCAT network there is always one EtherCAT master (e.g. an industrial PC) and a variable number of slaves (e.g. servo drive, bus terminals etc). Each EtherCAT slave has two Ethernet ports. Slave to slave cabling is thus possible. All EtherCAT users are generally connected in a line with the master at the beginning of the circuit. On the last slave in the line the second Ethernet port remains open.

IPC

12345678

REL

RSH

REL

ENPO

ISDSH

OSD02

ISD06

ISD05

OSD01

OSD00

ISD04

ISA1-

ISD03

ISA1+

ISD02

ISA0-

ISD01

ISD00

ISA0+

+24 V

DGND

12345678

ACHTUNG

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

Fig. 3.1

EtherCAT connection

REL

RSH

REL

ENPO

ISDSH

OSD02

ISD06

ISD05

OSD01

OSD00

ISD04

ISA1-

ISD03

ISA1+

ISD02

ISA0-

ISD01

ISD00

ISA0+

+24 V

DGND

ACHTUNG

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

time > 3 min. Pay attention to the operation manual!

REL

RSH

REL

ENPO

ISDSH

OSD02

ISD06

ISD05

OSD01

OSD00

ISD04

ISA1-

ISD03

ISA1+

ISD02

ISA0-

ISD01

ISD00

ISA0+

+24 V

DGND

12345678

ACHTUNG

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

IN and OUT socket (RJ45 input/output)

Each EtherCAT slave has two RJ45 sockets. The upper port (X15) is the input (IN) and the lower port (X16) is the output (OUT) of the slave. The incoming cable (from the direction of the master) is connected using the IN port, and the outgoing cable is connected to the next slave using the OUT port. The OUT port remains blank for the last slave in the series. An open output on a slave leads internally to a logical short circuit of the transmit (Tx) and receive (Rx) cables. For this reason every EtherCAT network can be regarded as a logical ring in terms of its topology.

J+

J-

J+

J-

J+

J-

J+

J-

REL

RSH

ISDSH

RSH

ISD06

ENPO

ISD05

OSD02

ISD04

OSD01

ISD03

OSD00

ISD02

ISA1-

ISD01

ISA1+

ISD00

ISA0-

+24 V

ISA0+

DGND

+24 V

DGND

ACHTUNG

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

Pay attention to the

time > 3 min.

operation manual!

Fig. 3.2

Upper RJ45 port = input

Lower RJ45 port = output

EtherCAT option

356

33 Lah

www.l

Type:

Made

nau s t

SOA84.00

German

. d e

In:

6.0

000.00

LISTED

Out:

Ind. Co

00.0

19BB

nt. Eq.

SN.:

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MSD Servo Drive User Manual CANopen/EtherCAT

[ Section 3 ]

moog

Pair #

MSD Servo Drive User Manual CANopen/EtherCAT

IMPORTANT: Errors in cabling (incorrect connection of input and output)

can lead to faulty addressing by the master.

Connecting cables

Ethernet patch cables or crossover cables are suitable connection cables as per the CAT5e speciﬁcation. Cables lengths of 0.3 m to a max. 100 m are permissible.

IMPORTANT: Never use EtherCAT and standard Ethernet together in one

physical network. This can lead to impairments including communication outages! To avoid confusion, always use different colours for EtherCAT and Ethernet cables.

3.2 Pin assignment of the RJ45 socket

The two LEDs on the RJ45 socket mean the following:

PIN Colour Cable wire pairs 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 3.1 Meaning of LEDs without additional status/error LED

1234 5678

Fig. 3.3

RJ45 socket

NOTE: Ethernet cables are available in various lengths in the IT specialist

trade. Use CAT5e cable or better.

3.3 Meanings of LEDs

There are 2 LEDs on each RJ45 socket.

ACHTUNG

Kondensatorenent-

ladezeit> 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

Payattention to the

time > 3 min.

operationmanual!

Fig. 3.4

Device with EtherCAT option

The two LEDs on the RJ45 socket mean the following:

LED Function Meaning

Off = no link

 No connection with another user

Upper LED Link/activity

RUN

Lower

LED

(only active on the lower port if another user is connected here)

On = link

 Connection with another user exists, no data exchange

Flashing = activity

 Data exchange active

Off = initialisation

 Device is in initialisation state

Flashing = pre-operational

 Device is in "pre-operational" state

Single ﬂash = safe-operational

 Device is in "safe-operational" state

On = operational

 Device ready to start

Table 3.2 Meaning of LEDs without additional status/error LED

Depending on the device's hardware status, an additional status/error LED may be present in addition to the two LEDs on the two RJ45 sockets. In this case, the meaning of the LEDs is as shown in the table below.

LED Function Meaning

Off = no link

Upper LED Link/activity

Lower LED Link (PHY)

Table 3.3 Meaning of LEDs with additional status/error LED

 No connection with another user

On = link

 Connection with another user exists, no data exchange

On = link

Off = no link

LED Function Meaning

Red = error

Off = no error

Flashing = invalid conﬁguration

Single ﬂash = local error

Double ﬂash = watchdog timeout

Status LED

(RUN/ error)

Status/error

Green = RUN

Off = initialisation

 Device is in initialisation state

Flashing = pre-operational

 Device is in "pre-operational" state

Single ﬂash = safe-operational

 Device is in "safe-operational" state

On = operational

 Device ready to start

Table 3.3 Meaning of LEDs with additional status/error LED

3.4 Display of operating statuses via 7-segment display

D1 D2 Meaning Parameter

System statuses

S.*) 1.

S.*) 2.

Device in reset status

Auto-initialisation on device startup (Start)

1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn)

1) Starting lockout (DC link is OK, power stage not ready)

Ready to switch on (power stage is ready) (ReadyToSwitchOn)

(SwitchOnDisabled)

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MSD Servo Drive User Manual CANopen/EtherCAT

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MSD Servo Drive User Manual CANopen/EtherCAT

D1 D2 Meaning Parameter

E R

The following appear alternately in the event of error

E R. X Y X Y

1) S. ﬂashes if t he STO (Safe Torqu e Off) functio n is active; the display is not lit if the func tion is not ac tive. *) This is not a "safe display" under the terms of EN 61800-5-2.

2) The point ﬂashes if the power stage is active.

On (power is connected to the device)

Drive ready (current applied to drive and drive ready for input of setpoint)

Quick stop

Fault response active

Fault (see below) (Fault)

Display for errors or non-acknowledgeable errors

Error number (decimal)

Error localisation (decimal)

(SwitchedOn)

(OperationEnable)

(QuickStopActive)

(FaultReactionActive)

Example of the ﬂash sequence:

 ER > 02 > 05 * ER > 02 > 05 ...

Error: ER = "Fault"

3.5 Hardware enable

MSD Servo Drive has a control input for ENPO hardware enable on the control terminal. This input must be conﬁgured to operate the power stage at 24 V.

Note: When the inputs ENPO and ISDSH are not conﬁgured, the device stays in status 1 = "Not Ready to Switch On" or 2 = "Switch On Disabled". Only after correct conﬁguration can the status be exited by a "Shutdown command" via bus.

Error name: 02 = "Error in the parameter list"

Description of error: 05 = "Function for checking current parameter list"

4 Commissioning and Conﬁgu-

Drive ADmin istrAtor

Step Action Note

ration of CANopen

4.1 General commissioning of CANopen/Ether-

CAT

4.1.1 Commissioning

The Moog drive system. The Moog access to a motor database for servo motors and enables general device conﬁguration.

First commissioning is a separate subject regarding operation via the user interface and is described in detail in the device's application manual.

4.1.2 Commissioning sequence

Preconditions:

• The drive device is wired as speciﬁed in the operation manual and ﬁrst commis- sioning is completed. (To test CAN communication, it is sufﬁcient to connect the voltage supply of the CAN option and the control voltage).

• If current is to be applied to the motor, the hardware enable (ENPO) and the "STO (Safe Torque Off)" must also be correctly conﬁgured.

NOTE: For more detailed information on optimisation of the software func-

tions and control circuits, refer to the device application manual.

user interface is used for general commissioning of the

includes tools to identify motor data, provides

Check the wiring. Make sure the ENPO hardware enable (X4) is not connected.

Switch on the mains power and the 24 V supply to the CAN interface.

Conﬁgure the drive device using the application manual.

Test the control quality and optimise the drive settings as necessar y using the operation manual.

Set the parameters for the CAN communication. The baud rate and the device address are required. The address can be selected using software and hardware. The mapping must also be completed and the active operation mode selected as per CiA301/402.

Test the drive on the higher-order drive – see section 3.4.

Finally, save the setting.

(Inputs/outputs, software functions etc.)

Software and hardware address are added...

Save device setting 

Non-volatile in device

moog

[ Section 4 ]

NOTE: For more information on the subject of "Units and scalings", please

refer to section 7.4.

MSD Servo Drive User Manual CANopen/EtherCAT

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DriveADministrAtor

Drive ADminis trAtor

MSD Servo Drive User Manual CANopen/EtherCAT

4.1.3 Commissioning via Moog

Procedure for commissioning with the aid of the application manual

First commissioning based on operation manual

A precondition for this is ﬁrst commissioning with the aid of the operation manual.

The user manual only covers adjustment of the soft ware functions.

Commissioning as per application manual

Setting the servo drive parameters using the application manual.

This includes, for example, the conﬁguration of technology functions.

Commissioning based on CA Nopen user manual

Conﬁguration of ﬁeldbus-speciﬁc settings (e.g. baud rate) using this document.

Checking the set application solution

To preserve the safety of personnel and machiner y, the application solution should only be checked at low speed. Make sure the direction of rotation is correct. In case of emergency the drive power stage can be disabled, and the drive stopped, by removing the ENPO signal.

Completing commissioning

When you have successfully completed commissioning, save your settings (using Moog device.

) and store the data set in the

– Interpolated Position mode

– Cyclic Synchronous Position mode (EtherCAT only)

– Cyclic Synchronous Velocity mode (EtherCAT only)

– Cyclic Synchronous Torque mode (EtherCAT only)

In the course of ﬁrst commissioning the user implements the drive settings using motor data, control settings, I/O conﬁguration etc.

A relevant control mode is also directly connected with the respective operation mode. By switching modes of operation via CANopen/EtherCAT, it is possible to switch directly between position control, speed control and torque control.

The drive is thus in speed control for Proﬁle Velocity mode and in position control for Proﬁle Position mode.

4.1.5 Functionality of operation modes

modes_of_operation (6060h)

Profile Position Mode

Operation

Mode

Function

modes_of_operation_display (6061h)

Profile Velocity Mode

Homing Mode

4.1.4 Operation mode selection (modes of operation)

There are different control modes for operation of the devices via CANopen. The active operation mode is always selected via CiA402 object 6060h (Modes of Operation).

MSD Servo Drive supports the operation modes as per the CiA402:

– Proﬁle Position mode

– Proﬁle Velocity mode

– Homing mode

Fig. 4.1

Users can switch between the various operation modes, as long as these are supported by the device.

The status word contains bits, the meaning of which depends on the operation mode. For monitoring, it is necessary for the bits to change their meaning when switching operation modes; see also Chapter 6.

Changing functionality of operation modes in the display

4.1.6 Setting the timing parameters

Drive ADmin istrAtor

To ensure correct communication with the drive, three timing parameters have to be set on MSD Servo Drive. As a rule, these should all be set to the same value. It should be borne in mind that different units have to be used when setting the three parameters (see table).

Para ID Name/object Unit

P 0306 Internal interpolator cycle time ms

P 2015 Communication cycle period/0x1006 µs

P 2266

Index 0 Index 1

Table 4.1 Setting the timing parameters

0x60C2 Interpolation time base Interpolation time exponent

For EtherCAT, parameter P 2266 MPRO_402_IntTimePeriod (object 0x60C2) must be set to the cycle time for the setpoints (or the telegrams).

4.2 CAN-speciﬁc conﬁguration

4.2.1 Setting the software address and baud rate

The software address and baud rate can be set using the following device parameters via Moog

Parameter Function Description

P 2005-COM_CAN_Adr CANopen address Address assignment via parameter. For

P 2006-COM_CAN_Baudrate Baud rate Permissible baud rates – see section 2.3

Table 4.2 Parameters on the Bus Systems function screen

more information on setting the address, see section 2.1

NOTE: MSD Servo Drive has a default baud rate of 1 Mbit.

The actual address is calculated by adding the software and hardware address and is displayed using parameter P 2058 COM_CAN_Adr_Act.

Any change to the baud rate in parameter P 2006 COM_CAN_Baudrate only takes effect once MSD Servo Drive has been restarted. The current baud rate is displayed using parameter P 2059 COM_CAN_Baudrate_act.

4.2.2 Commissioning instructions

A drive device may not respond to a telegram for a variety of reasons:

• There is no reply if the scope of telegram (baud rate, data length) on the master computer is not correct.

• There is no reply if a drive device is addressed with the wrong bus address.

• There is no reply if the serial connection between the master computer and the drive device is not correctly set up.

• There is no reply if the 24 V supply to the CAN connection is missing or the cabling is faulty.

• There is no valid reply if several devices with the same device address are con- nected to the bus.

• 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.

Parameter 2060 Description

0 Boot- up

1 Init

4 Stopped /safe OP

5 Operational

127 Pre-Operational

Table 4.3 Parameter P 2060

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[ Section 4 ]

MSD Servo Drive User Manual CANopen/EtherCAT

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Drive ADmin istrAtor

MSD Servo Drive User Manual CANopen/EtherCAT

4.2.3 Testing the higher-order drive

To activate changed settings the device must be switched off and back on again. When the power is connected, after an initialisation period of a few seconds the device must transmit a one-off boot-up message (ID 700h + node ID = 701h for device address 1).

If this happens, the communication is OK.

NOTE: When transferring data to the device via SDO telegrams the number

of data bytes transferred should be taken into account. For this the correct length information must be transferred in the control byte. Alternatively, however, an SDO transfer without speciﬁcation of the data length is also possible. The correct operation of the control byte in the SDO telegram should also be observed.

4.2.4 Data handling

Saving the settings

All conﬁguration data can be backed up by the Moog

NOTE: Please note, however, that some objects are RAM variables, which

must be correctly operated and initialised by the drive. This includes, for example, object 6060h: Modes of Operation.

Restoring factory defaults

There are two possible ways of restoring the devices' default factory settings:

Via ﬁeldbus

• Write value 1 to subindex 3 of object 200BH-PARA _SetCmd. The factory settings are then applied to the whole device.

NOTE: Please note that this also affects the settings for the baud rate/device

address. The changes take effect after a "Reset node" command or device restart.

Via Moog

Object 200BH-PARA_SetCmd Subindex 1 is automatically set to 0 by the device after the save operation. This process can be used for timeout monitoring of the function.

• First select the relevant MSD Servo Drive in the Moog ture. The right mouse button opens a context menu from which you can select the "Reset Device Setting" entry.

NOTE: In both cases it takes approx. 10 seconds for the device to signal that

it is ready for operation again. During this time the device performs a self-test and changes all its settings to the factory setting. However, this setting is only retained if the data is backed up in the device. Data backup is initiated via the Moog SetCmd Subindex 1 = 1 via the bus system. The save operation can also be executed using object 1010 hex.

ATTENTION: Data backup takes a few hundred ms. During that time the

device must not be switched off, otherwise the settings will be lost.

user interface or by writing to object 200BH-PARA_

tree struc-

4.2.5 Control functions

Control functions can be optimally adapted to the relevant application. Consequently, several control formats are offered. The appropriate formats can be selected by the master during the setup phase via the bus, or by adjusting the relevant device parameters.

The drive devices' state machine has a cycle time of 1 ms.

All control commands and setpoints are processed within that cycle time by the drive device.

NOTE: Control PDOs are processed in a minimum cycle time of 1 ms. If

protocols arrive at the device faster, the telegram that arrived most recently overwrites the previous one. An error message is not generated if telegrams are overwritten as a result of insufﬁcient cycle time.

4.3 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.

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[ Section 4 ]

MSD Servo Drive User Manual CANopen/EtherCAT

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MSD Servo Drive User Manual CANopen/EtherCAT

5 Setting the Device Parameters

for CANopen

5.1 Implemented CiA301 functionality

5.1.2 Object directory of CiA301

For a full overview of the supported CAN objects of MSD Servo Drive, please refer to the EDS ﬁle.

Here you can refer both to the CANopen objects of CiA301 and CiA402, and to the manufacturer-speciﬁc objects of the device.

The following list shows an extract of the object directories with important CiA301 objects. For these objects the transmission types or mapping, for example, are explained below.

5.1.1 Communication objects

• Boot-up to CiA301 V4.01 (guarding boot-up via identiﬁer 700h)

• Four variably mappable TxPDOs (transmission type 1 to 240, 254 and 255 dec possible)

• Four variably mappable RxPDOs (transmission type 1 to 240, 254 and 255 dec possible)

• One SDO server – pay attention to deﬁnition of time conditions (typical processing time in device approx. 5 ms, depending on capacity utilisation)

• One emergency object error code to CiA402 plus manufacturer-speciﬁc error loca- tion and number, operating hours of the device

• One Sync object

• NMT state machine to CiA301

• Node guarding and heartbeat (see below)

• Processing cycle: PDO protocols can be processed in a minimum cycle time of 1 ms. If protocols arrive faster, the previous protocols are overwritten.

• SDO protocols and NMT services are processed acyclically. Typical processing times lie between 1 and 5 ms.

• Initialisation values of the COB IDs based on Predeﬁned Connection Set

• Access to device parameters 2000h–5FFFh (expedited/non-expedited)

Object

no.

0x1000 Device_Type VAR Unsigned32 ro

0x1001 Error_ Register VAR Unsigned8 ro

0x1003 Pre-Deﬁned_Error_Field One

0x1005 COB-ID_SYNC VAR Unsigned32 rw

0x1006 Communication_Cycle_Period VAR Unsigned32 rw

0x1007 Synchronous_Window_Length VAR Unsigned32 rw

0x1008 Manufacturer device name String

0x1009 Manufacturer hardware version String

0x100A Manufacturer software version String

0x100C Guard_Time VA R Unsigned16

0x100D Life_Time_Factor VAR Unsigned8

0x1010 Store parameters AR R AY Unsigned32 rw

0x1011 Restore default parameters AR R AY Unsigned32 rw

0x1014 COD - ID _EMCY VAR Unsigned32

0x1017 Producer_Heartbeat_Time VAR Unsigned16 rw

0x1018 Identity_Object: support all 4

0x14 00 1st_ Receive_ PDO_Parameter RECORD PDO CommPar rw

0x14 01 2nd_Receive_ PDO_Parameter R ECORD PDO CommPar rw

0x14 02 3rd_Receive_PDO_ Parameter RECO RD PDO CommPar rw

Table 5.1 Object directory

Object name

subentry

entries (serial number etc.)

Object

code

AR R AY Unsigned32 ro

RECORD Identity (23h) ro

Typ e At tr.

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MSD Servo Drive User Manual CANopen/EtherCAT

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MSD Servo Drive User Manual CANopen/EtherCAT

Object

no.

0x14 03 4th_ Receive_ PDO_ Parameter RECO RD PDO CommPar rw

0x1600 1st_Receive_ PDO_Mapping

0x1601 2nd_Receive_PDO_Mapping

0x1602 3rd_Receive_ PDO_Mapping

0x1603 4th_Receive_ PDO_Mapping

max. 8

objects

0x1800 1st_Transmit_PDO_Parameter RE COR D PDO CommPar (20h) rw

0x1801 2nd_Transmit_PDO_Parameter RECORD PDO CommPar (20h) rw

0x1802 3rd_Transmit_PDO_Parameter RECORD PDO CommPar rw

0x1803 4th_Transmit_PDO_Parameter RECORD PDO CommPar rw

0x1A00 1st_Transmit_PDO_Mapping

max. 8

objects

0x1A01 2nd_Transmit_PDO_ Mapping

max. 8

objects

0x1A02 3rd_Transmit_PDO_Mapping

max. 8

objects

0x1A03 4th_Transmit_PDO_Mapping

max. 8

objects

Object name

max. 8 objects

Object

code

RECORD PDO Mapping (21h) rw

RECORD PDO Mapping rw

Typ e At tr.

Table 5.1 Object directory

5.2 Parameter channel (Service Data Objects)

The Service Data Object (SDO) permits write and read access to the object directory. This SDO is implemented according to the CAL speciﬁcation by the Multiplexed Domain CMS object. The protocol is designed for the transfer of data of any length. An SDO server is integrated into the device for SDO transfer. Communication is by way of two reserved identiﬁers.

Receive SDO: 600 h

Transmit SDO: 580 h

SDO client

600H + node-ID Byte 0 1 2 3 4 5 6 7

580H + node-ID Byte 0 1 2 3 4 5 6 7

Fig. 5.1

Example of an SDO data transfer in Expedited mode

Data

Subindex

Index

Control field

Subindex

Index

Control field

The CAL speciﬁcation makes a basic distinction between three protocol services:

• Download protocol (Write)

• Upload protocol (Read)

• Abort protocol (Error)

The upload and download protocols also differentiate between:

• Expedited Multiplexed Domain protocol, for access to objects with a data length of up to 4 bytes (shown above) and

• Multiplexed Domain protocol, for access to objects of any length

SDO server

Object

5.2.1 Data types

NOTE: The Moog

settings in the form of value substitution texts. Example: Parameter 45 0-MOT_Type = PSM

When writing and reading via the ﬁeldbus the corresponding numerical values for these value substitution texts must be used. These values are displayed in brackets ( ) when the parameter is opened in Moog

Example: Parameter 45 0-MOT_Type = PSM (1)

The drive units support the following parameter data formats:

user interface displays many parameter

5.2.2 Representation of data types in the control protocol

All data types are represented as 32-bit variables in Intel format, and with the correct preceding sign.

Data bytes in the

control protocol

USIGN8/INT8*

USI GN16 / IN T16*

USIGN32/INT 32

FLOAT32 IEEE format

STRING See examples

* ﬁlled up with the appropriate preceding sign (00H or FFH)

Table 5.3 Assignment of data types in the data ﬁeld

3 4 5 6

Low Word

Low Byte

Low Word High

Byte

High Word Low

Byte

High Word

High Byte

5.2.3 Access to device parameters

Where can I ﬁnd the device parameters?

Data type Value range Function

USIGN8 0...255

UnsignedUSI GN16 0...65535

USIGN32 0...4294967295

INT8 -128 ...127

Integer, signedINT8 -32768 ...32767

INT32 -21474836 48 ...2147483647

FLOAT32 see IEEE

STRING

Table 5.2 Data types

32-bit ﬂoating point number in IEEE format

ASCII characters, max. 100 bytes in bus mode incl. zero terminator

moog

[ Section 5 ]

All device parameters are addressed by way of a parameter number.

In addition to the standard objects, the CANopen proﬁle also provides an area for manufacturer-speciﬁc entries. This area lies between 2000 h and 5FFF h. If you then want to read or write parameter 455-MOT_FNOM (rated motor frequency) of the device, the object index is generated from 2000 h + parameter number (hex).

In our example: Index = 2000 h + 1C7 H

NOTE: Proﬁle-speciﬁc parameters are visible in Moog

, but only in the 1000H... (CiA301 objects)/6000H... (CiA402 objects) writeable/ readable range. This means parameters stored both as device parameters (2xxxH range) and as proﬁle parameters (CiA301/CiA402) can only be read and written to via their object number (CiA301/CiA402 proﬁle).

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).

5.3 Examples of SDO handling

The CANopen objects and the servo drive parameters can be accessed via the Receive SDO (COB IDs: 600 h + node ID).

In a data transfer protocol a maximum of 4 data bytes can be transferred in Expedited mode. This means all device parameters, apart from String parameters, can be written to with a single transfer protocol.

String parameters can be written to using the Multiplexed Domain protocol.

MSD Servo Drive User Manual CANopen/EtherCAT

Example of read access to string parameters (parameter 3 DV_DeviceAliasName)

Note:

- All numeric values are hexadecimal

- The string "X-axis" is to be transferred

- This text is entered in MSD Servo Drive parameter 3 DV_DeviceAliasName

TIME ID Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 By te 4 Byte 5 Byte 6 Byte 7 Comments

18.992445 Tx 6 01 8 40 03 20 00 00 00 00 00 Read object 2003h (= parameter 3)

18.992972 Rx 581 8 41 03 20 00 64 00 00 00 Reply: 64h --> 100 bytes are to be transferred

35.514341 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 1

35.514 59 4 Rx 581 8 00 58 2d 41 78 69 73 00 Reply: segment 1 – contains "X-axis"

36.269620 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 2

36 .270175 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 2

36.982385 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 3

36.982664 Rx 581 8 00 00 00 00 00 00 00 00 Reply: segment 3

37.686447 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 4

37.686706 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 4

38 .4213 44 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 5

38.4216 04 Rx 581 8 00 00 00 00 00 00 00 00 Reply: segment 5

39.053526 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 6

39.053787 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 6

39.749 0 81 Tx 6 01 8 60 00 00 00 00 00 00 00 Requirement: segment 7

39.749347 Rx 581 8 00 00 00 00 00 00 00 00 Reply: segment 7

40.428981 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 8

40.429249 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 8

41.0 85 839 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 9

41.086198 Rx 581 8 00 00 00 00 00 00 00 00 Reply: segment 9

41.74075 5 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 10

41.741148 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 10

42.514 034 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 11

42.514294 Rx 581 8 00 00 00 00 00 00 00 00 Reply: segment 11

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[ Section 5 ]

MSD Servo Drive User Manual CANopen/EtherCAT

moog

TIME ID Direction DLC Byte 0 Byte 1 Byte 2 Byte 3 By te 4 Byte 5 Byte 6 Byte 7 Comments

43.172512 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 12

43.172787 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 12

43.908571 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 13

43.908831 Rx 581 8 00 00 00 00 00 00 00 00 Reply: segment 13

44.668466 Tx 601 8 70 00 00 00 00 00 00 00 Requirement: segment 14

44.66 874 0 Rx 581 8 10 00 00 00 00 00 00 00 Reply: segment 14

53.884 044 Tx 601 8 60 00 00 00 00 00 00 00 Requirement: segment 15

53. 8 84414 Rx 581 8 0b 00 00 00 00 00 00 00 Reply: segment 15 – No further segments

MSD Servo Drive User Manual CANopen/EtherCAT

Transmission of transferred values (ASCII):

At 6 bytes, the string "X-axis" is so short that it can be fully transferred in the ﬁrst segment.

The following segments (of 100 bytes of the parameter) therefore only include zeroes...

Transmitted bytes (HEX) 58 2d 41 78 69 73 Interpretation (ASCII) X - a x i s

5.3.1 Parameter set download

Drive ADmin istrAtor

The following data can be transferred to MSD Servo Drive via the CANopen interface:

• Parameter set

• A parameter data set can be downloaded by SDO transfer or via the Moog ic device parameters are also accessible via objects 2000h–5FFFh

If a uniﬁed valid data set (i.e. not just individual parameters) needs to be transferred from the CAN master to the device, the following points must be considered:

On every transfer of an individual parameter the servo drive checks whether the parameter matches its existing data set. The check of the new parameter value sometimes refers to existing parameter values. This means it is possible that the servo drive may reject a parameter, even though it originates from a valid parameter data set, because the parameter set is not yet complete in the device.

Since a simple error reset may not eliminate the cause of the error, it may be necessary to reset to the factory defaults.

user interface version 5 or higher. All manufacturer-specif-

Remedy:

The parameter data set is transferred to the servo drive without a logic check. At the end of the download, the logic check is reactivated and the servo drive checks the transferred parameters for plausibility. During this check parameter settings that do not functionally match are reported as errors.

Download procedure for a completed parameter data set:

1. Reporting a download without logic check To deactivate the logic check and to report the download of a data set, the value 1 is written to parameter 11 subindex 4.

3. Completing download and activating plausibility check Once all parameter data has been transferred to the servo drive, parameter 11 subindex 4 is reset to the value 0. Then a logic check of the device parameters is carried out. In case of error the user receives an emergency message.

NOTE: The download of a complete parameter data set is only possible when

the system is at a standstill. Make sure the servo drive is not switched on for the duration of the download.

2. Downloading the parameter data to the servo drive In this step the individual parameters of the data set are sequentially transferred to the drive. Despite the deactivated logic check, basic checking mechanisms are still active. These monitor, for example, the maintenance of parameter limits and become active if these are infringed. Therefore, if a value range limit is infringed by the download of a parameter, this SDO protocol is directly rejected (Abort message).

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MSD Servo Drive User Manual CANopen/EtherCAT

5.4 PDO transmission types

In connection with the PDO transfer, various transmission types are deﬁned in CANopen proﬁle CiA301. The transmission type and event control can be set separately for all supported RxPDOs and TxPDOs. The servo drive supports the following transmission types:

Acyclic synchronous type no. 0 h

Meaning: RxPDOs are evaluated once a device-speciﬁc event has been triggered and the next SYNC object has been received; the TxPDO is then transmitted (from ﬁrmware version 2.15-00).

Cyclic synchronous types no. 1–F0 h

Meaning: The difference between this and the acyclic synchronous transmission type is that RxPDOs are only evaluated after receipt of 1–F0 h Sync objects and TxPDOs are only transmitted every 1–F0 h Sync objects.

Asynchronous types no. FE h and FF h

Meaning: RxPDOs are evaluated immediately on receipt; TxPDOs are transmitted by a device-speciﬁc event. The Sync object is irrelevant to this mode of transfer. Special feature of type FF h: For this the event is deﬁned in the associated device proﬁle.

NOTE: The desired transmission types are set by way of the corresponding

CANopen objects 1400h for RxPDOs and 1800h for TxPDOs.

5.5 Event-controlled TxPDO transmission

Note: Event control is only active when the relevant "transmission type" is set to asynchronous (FEh or FFh).

Function of event control:

Any bit changes within the TxPDO can serve as an event for the transmission of a TxPDO. This means that only the mapped contents of this TxPDO can be used as an event for transmission of a TxPDO. Accordingly it is not possible to send a TxPDO dependent on the changes in content of another TxPDO.

Example:

The status word 6041h is mapped in TxPDO1. TxPDO2 contains the current actual position. A change in the status word in TxPDO1 can therefore not be used as an event for transmission of the TxPDO2. If this is required, the status word 6041h can also be mapped in TxPDO2 however.

Selecting events:

In MSD Servo Drive every bit (or any change to it) in a TxPDO can be deﬁned as an event. By default all bits (max. 64bit = 8byte) are monitored for changes and are evaluated as events. Individual bits can be displayed using screens, however, and therefore are no longer used for event generation.

Screens enabling the display of individual bits of TxPDOs are deﬁned in ﬁeld parameter

2007. Each TxPDO has subindexes, and each subindex is responsible for 32 bits of the TxPDO. Its structure is thus as follows:

Parameter P 2007 – COM_301_EvMask "Event mask for asynchronous transmit PDOs"

Sub

0 EvMsk_TxPdo1L FFFFFFFFh Event mask for TxPDO 1 byte 0 –3 uint32

1 EvMsk_TxPdo1H FFFFFFFFh Event mask for TxPDO 1 byte 4 –8 uint32

2 EvMsk_TxPdo2L FFFFFFFFh Event mask for TxPDO 2 byte 0 –3 uint32

3 EvMsk_TxPdo2H FFFFFFFFh Event mask for TxPDO 2 byte 4 –8 uint32

4 EvMsk_TxPdo3L FFFFFFFFh Event mask for TxPDO 3 byte 0–3 uint32

5 EvMsk_TxPdo3H FFFFFFFFh Event mask for TxPDO 3 byte 4 –8 uint32

6 EvMsk_TxPdo4L FFFFFFFFh Event mask for TxPDO 4 byte 0 –3 uint32

7 EvMsk_TxPdo4H FFFFFFFFh Event mask for TxPDO 4 byte 4 –8 uint32

Table 5.4 Field parameter P 2007

Name Value Description Typ e

Example of application of the screens:

To only allow the lower 16 bits of the TxPDO1 as an event, the subindexes of parameter P 2007 are described as follows:

– Subindex 0 (event mask TxPDO1 bytes 0–3) = 0000FFFFh

– Subindex 1 (event mask TxPDO1 bytes 4–7) = 00000000h

NOTE: The cyclic transmission of the TxPDOs is activated by setting a cy-

cle time in ms in the objects 0x1800 (TxPDO1), 0x1801(TxPDO2), 0x1802 (TxPDO3) and 0x1803 (TxPDO4) subindex 5 (event timer).

5.6 PDO mapping

Most device-speciﬁc parameters form part of the manufacturer-speciﬁc area (2001h– 5FFFh) and can also be mapped in one of the PDOs. For these parameters (objects), refer to the EDS ﬁle of the servo drive.

5.6.2 Mapping notes

Unlike earlier devices MSD Servo Drive no longer has predeﬁned mapping or mapping selectors. This means that the drive must write the mapping to the servo drive prior to a communication via PDO. Transfer of the data set is also possible.

By default all mapping settings are set to 0, i.e. the PDOs do not contain any mapping. The communication settings (mapping/transmission types etc.) can be saved in the device, however, and are subject to data set handling. This means they do not have to be rewritten each time and can be transferred with the data set.

The following objects are relevant for mapping:

RxPDOs: 1600h RxPDO1 mapping 1601h RxPDO2 mapping 1602h RxPDO3 mapping 1603h RxPDO4 mapping

TxPDOs: 1A00h TxPDO1 mapping 1A01h TxPDO2 mapping 1A02h TxPDO3 mapping 1A03h TxPDO4 mapping

NOTE: A maximum of 8 objects can be mapped per PDO. In a PDO a maxi-

mum of 8 bytes can be mapped.

5.6 .1 Mapping – general

Variable mapping of parameters is possible on the MSD Servo Drive for all four RxPDOs and TxPDOs. Mapping works as deﬁned in the CANopen communication proﬁle CiA301.

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[ Section 5 ]

NOTE: Remember that the PDO must always be assigned an even number of

bytes! If an uneven number is required, this must be completed with a "dummy byte" for example. Parameter P 2055 "COM_301_U8" (object 0x2807) is available for this purpose.

MSD Servo Drive User Manual CANopen/EtherCAT

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Write Heartbeat

5.7 Heartbeat function

MSD Servo Drive User Manual CANopen/EtherCAT

The Heartbeat function according to CiA301 (V4.01) is supported. MSD Servo Drive can then only be used as a heartbeat producer, i.e. it sends heartbeat telegrams to the drive. To this end object 1017H Producer Heartbeat Time is implemented.

A time value (in ms) is entered as a value for this object. The time value represents the cyclic interval during which the servo drive sends its heartbeat telegrams.

Heartbeat protocol

The Heartbeat protocol deﬁnes an ERROR CONTROL SERVICE without using REMOTE FRAMES. A HEARTBEAT PRODUCER sends a cyclic HEARTBEAT MESSAGE. One or more HEARTBEAT CONSUMERS receive this message. The relationship between the PRODUCER and the CONSUMER can be conﬁgured by way of the objects described below. The HEARTBEAT CONSUMER monitors receipt of the HEARTBEAT PROTOCOL taking account of the preset HEARTBEAT CONSUMER TIME.

If the HEARTBEAT PROTOCOL is not received within the HEARTBEAT CONSUMER TIME,

a HEARTBEAT event is generated.

The HEARTBEAT PROTOCOL starts directly after entry of the HEARTBEAT PRODUCER TIME. If the device is powered up with a HEARTBEAT PRODUCER TIME setting not equal to 0, the HEARTBEAT PROTOCOL starts with the status transition INITIALISING -> PRE-OPERATIONAL.

In this case the BOOTUP MESSAGE is classed as the ﬁrst HEARTBEAT MESSAGE.

Heartbeat

Producer

request

Heartbeat

Producer

request

Fig. 5.2

Time

Heartbeat protocol

COB-ID = 700 + Node-ID

6 .. 9

r: reserved (always 0) s: the status of the Heartbeat producer 0: BOOTUP 4: STOPPED 5: OPERATIONAL 127: PRE-OPERATIONAL

NOTE: The NODE GUARDING and HEARTBEAT functions cannot be used in

a device simultaneously. If the HEARTBEAT PRODUCER TIME is not equal to 0, the HEARTBEAT PROTOCOL is used.

Heartbeat

Consumer

indication

Heartbeat

Consumer

Time

indication

Heartbeat Consumer

Time

Heartbeat Event

5.8 Monitoring of telegram failure

MSD Servo Drive can be used to monitor the incoming SYNC telegrams and RxPDOs and to trigger an error message after a conﬁgurable number of failed telegrams.

The two parameters shown in the following table are used to conﬁgure monitoring:

Para ID Name Description

P 2061 COM_CAN_Timeout_Type

P 2062 COM_CAN_Timeout_Value

Table 5.5 Data types

Parameter P 2061 COM_CAN_Timeout_Type can be used to select whether the incoming SYNC signals or the RxPDOs are to be monitored. Parameter P 2062 COM_CAN_Time- out_Value speciﬁes the minimum time in milliseconds that must lapse after the last conﬁgured signal before a telegram failure is identiﬁed.

Telegram failure monitoring is only active in the NMT status "Operational".

Selection of signal to be monitored: 0: SYNC, 1: RxPDO

Timeout time [ms] 0 = monitoring inactive

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MSD Servo Drive User Manual CANopen/EtherCAT

6 Setting the Device Parameters

for EtherCAT

6.1 Supported EtherCAT functionality

Below you will ﬁnd an overview of the EtherCAT functionality implemented in MSD Servo Drive. The diagram below shows the basis for the description that follows. It shows the structure of EtherCAT based on the OSI 7 layer model.

Application

(device profile CiA-402)

Object Dictionary

SDO PDO Mapping

Process Data

Mailbox

HTTP, FTP ...

TCP

UDP

Ethernet

EoE

EtherCAT Data Link Layer

Emergency / SDO /

SDO Information Service

All services that are not time-sensitive, i.e. intervention of their execution/contents in process data is not time-sensitive, are grouped together in the mailbox. The mailbox is used as a service data channel and thus also enables access to drive parameters. This is done via the SDO (Service Data Objects) channel. The mailbox service also provides the basis for EoE (Ethernet over EtherCAT) services and error handling (emergency telegrams).

The process data is structured on the basis of CANopen (CiA301). This means objects are mapped in PDOs (Process Data Objects) that are transferred cyclically. This process data includes, for example, cyclic position, speed or torque reference values and actual values.

The basis for both SDO and PDO accesses to the drive is always the object directory, which is also based on CANopen. For the user this means that these objects can be accessed both via CANopen and via EtherCAT.

In the case of MSD Servo Drive the CiA402 device proﬁle is again set up on the application layer. For information on this layer, please refer to the sections "Implemented CiA402 functionality" and "CiA402 operation modes".

An overview of the EtherCAT functionality of MSD Servo Drive is provided below:

Process data

• 4 RxPDOs

• 4 TxPDOs

• Transfer length = max. 8 bytes per PDO

• Variable mapping as per CiA301 (cf. CANopen)

ATTENTION: The PDO must have an even number of bytes assigned.

If an uneven number is required, this must be completed with a "dummy byte" for example. The dummy byte is entered as object 0x2807.

(Ethernet)

Fig. 6.1

Physical Layer

EtherCAT structure

The physical layer of EtherCAT based on IEEE802.3/100 BaseTX Ethernet physics. 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).

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MSD Servo Drive User Manual CANopen/EtherCAT

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MSD Servo Drive User Manual CANopen/EtherCAT

• Cycle times Transfer of cyclic position setpoints at max. 8 kHz (125 µs) Transfer of cyclic speed setpoints at max. 8 kHz (125 µs) Transfer of cyclic torque setpoints at max. 8 kHz (125 µs)

Mailbox

MSD Servo Drive supports the CAN over EtherCAT (CoE) and Ethernet over EtherCAT (EoE) protocol. The following functions/services are implemented:

CoE

• SDO/Abort

– Initiate SDO Download

– Download SDO Segment

– Initiate SDO Upload

– Upload SDO Segment

– Abort SDO Transfer

– All device parameters are accessible via object ID 2000H + x

Note: Proﬁle-speciﬁc parameters are visible in only in the 1000H... (CiA301 objects)/6000H... (CiA402 objects) writeable/ readable range. This means parameters stored both as device parameters (2xxxH range) and as proﬁle parameters (CiA301/CiA402) can only be read and written to via their object number (CiA301/CiA402 proﬁle).

, but

Example

Emergency

The Emergency service is designed for the transfer of error messages. In contrast to CANopen, emergency messages in EtherCAT are not autonomously sent from the slave but are retrieved by the master.

Functionality in MSD Servo Drive:

• Error codes as per the CiA402 device proﬁle are supported. For the structure/content of the emergency message, please refer to the section

• "Emergency Objects"

SDO Information Service

The SDO Information Service allows the master to read the object directory of the slave. In this way, the master can determine the supported objects of the slave with the required additional information (e.g. data type/access rights etc.). The SDO Information Service therefore represents an alternative to the use of EDS ﬁles familiar from CANopen.

Functionality in MSD Servo Drive:

• Access to the object list and description

• Alternative to integrating the EDS ﬁle

EoE

Functions such as the tunnelling of standard Ethernet frames in EtherCAT frames generally fall under Ethernet over EtherCAT. This enables protocols, for example TCP/IP, to be transferred via EtherCAT.

Implemented functionality in MSD Servo Drive:

• Initiate EoE request

• Initiate EoE response

• EoE fragment request

• EoE fragment response

Distributed clocks

Synchronisation in EtherCAT is implemented on the basis of distributed clocks. Each slave has its own clock, which is synchronised with the others using a synchronisation pulse. The reference clock with which users are synchronised is accommodated in a slave.

NOTES on MSD Servo Drive:

• All conﬁguration of distributed clocks takes place in the drive.

• Multiples of 125 µs (time basis for control) must always be used as cycle times.

(OI)

Init

(IP) (PI) (IB) (BI)

Pre-Operational

(PS) (SP)

(SI)

Bootstrap

(optional)

XML ﬁle

The XML ﬁle is used to integrate an EtherCAT slave into an EtherCAT master (control). It includes the conﬁguration (mapping etc.) for the respective operation modes.

NOTES on MSD Servo Drive:

• The XML ﬁle is supplied with the ﬁrmware.

• Integration of this ﬁle is control-speciﬁc.

NMT (Network Management)

The Network Management is essentially based on the network management of CANopen, although Stopped (CANopen) status has been replaced by Safe Operational (EtherCAT) status.

Depending on the range of functions offered by the control software, individual status transitions can be executed automatically or via the PLC.

(OP)

Safe-Operational

(SO) (OS)

Operational

Fig. 6.2

EtherCAT state machine

Status Description

Init Initialisation: the device starts up.

Pre-Operational

Safe-operational

Operational

Table 6.1 Status description

Transitions Operations

IP Start Mailbox Communication

PI Stop Mailbox Communication

PS Start Input Update

SP Stop Input Update

Table 6.2 Status transitions

The device is ready to be conﬁgured. Mailbox communication is possible.

PDO input data (TxPDO device) can be read. PDO output data (RxPDO device) is ignored.

Cyclic I/O communication PDO output data (RxPDO device) is processed.

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Drive ADmin istrAtor

Transitions Operations

SO Start Output Update

OS Stop Output Update

OP Stop Output Update/Stop Input Update

SI Stop Input Update/Stop Mailbox Communication

OI Stop Output Update/Stop Input Update/Stop Mailbox Communication

Table 6.2 Status transitions

6.2 Conﬁguration for operation in a drive

The services described in the previous section (e.g. PDO mapping etc.) are all operated by the drive (EtherCAT master). The communication-speciﬁc conﬁguration of 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 object directory.

. Alternatively all parameters can also be conﬁgured via the

MSD Servo Drive User Manual CANopen/EtherCAT

7 Implemented CiA402

functionality

The functions in this section relate to activation in the modes of operation of the CiA402 proﬁle

1 – Proﬁle Position mode 3 – Proﬁle Velocity mode 6 – Homing mode 7 – Interpolated Position mode 8 – Cyclic Synchronous Position mode (EtherCAT only) 9 – Cyclic Synchronous Velocity mode (EtherCAT only) 10 – Cyclic Synchronous Torque mode (EtherCAT only)

7.1 Device control and state machine

The drive is controlled via the DRIVECOM state machine deﬁned in CiA402 (see CiA402 10.1.1 state machine). No remote signal is provided.

controlword

(6040h)

Device Controlling

Operation Mode State Machine

statusword

(6041h)

Fig. 7.1

The status of the drive is controlled by way of the control word. The status of the drive is displayed in the STATUS WORD. In REMOTE MODE the drive is controlled directly from the CANopen network by PDO and SDO.

The state machine is controlled by the control word. The state machine is also inﬂuenced by internal events, such as errors.

Device controlling

Remote

Te rminals

Fault

modes of operation (6060h)

7.1.1 General information

The DEVICE CONTROL FUNCTION monitors all the functions of the drive. This function is subdivided into

– device control of the state machine

– operation mode function

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[ Section 7 ]

7.1.2 State machine

The state machine describes the CONTROLLER STATUS and the possible options for control by the master. A single status indicates a speciﬁc internal or external response. At the same time, the status of a drive restricts the possible control commands. For example, initiating a point-to-point positioning operation is only possible in the OPERATION ENABLE state.

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.

MSD Servo Drive User Manual CANopen/EtherCAT

moog

controlword

(6040h)

State Machine

statusword

(6041h) Actions

Fig. 7.2

State machine

7.1.3 Device states

Power Disabled

Start

Not Ready to

Switch On

Disabled

Power Enabled

Fig. 7.3

9 8

Switched On

State machine

Ready to

Switch On

Operation

Enable

Internal Events

Fault

Reaction Active

Fault

Quick Stop

Activ

MSD Servo Drive User Manual CANopen/EtherCAT

The following device states are possible:

NOT READY TO SWITCH ON:

Only low voltage is connected to the drive. The drive is initialised or is performing a self-test. If installed, the brake engages in this state. The drive function is deactivated.

SWITCH ON DISABLED: (Starting lockout)

Drive initialisation is complete. Drive parameters have been set. Drive parameters have been changed. No power to device (for safety reasons). The drive function is deactivated. "STO (Safe Torque Off)" standstill and/or ENPO not active

READY TO SWITCH ON: Power is connected to the device. Drive parameters have been changed. Drive function is deactivated.

SWITCHED ON: Power is connected to the device. POWER AMPLIFIER is ready for operation. Drive parameters have been changed. The drive function is deactivated.

OPERATION ENABLE: (Technology ready) No errors were detected. Drive function is enabled and power is connected to motor. Drive parameters have been changed. (Refers to standard application of the drive.)

QUICK STOP ACTIVE: Drive parameters have been changed. QUICK STOP function being executed. Drive function is enabled and power is connected to motor. If the QUICK STOP OPTION CODE is set to 5 (remain in QUICK STOP ACTIVE status), you cannot quit the QUICK STOP ACTIVE status, but you can switch to OPERATION ENABLE status using the ENABLE OPERATION command.

FAULT REACTION ACTIVE: Drive parameters have been changed. An error has occurred in the device. The QUICK STOP function has been executed. The drive function is enabled and power is connected to motor.

FAU LT: Drive parameters have been changed. An error has occurred and the fault reaction has been executed. Power disconnection and connection depends on the application. The drive function is deactivated.

Bit combinations of the DRIVECOM state machine

Device control commands:

The following bit combinations of control bits 0-3 and 7 form the device control commands for the status transitions of the state machine:

Command

SHUTDOWN 0 X 1 1 0 2, 6, 8

POWER-UP 0 X 1 1 1 3

DISABLE POWER 0 X X 0 1 7, 9, 10, 12

QUICK STOP 0 X 0 1 X 11

DISABLE OPERATION 0 0 1 1 1 5

ENABLE OPERATION 0 1 1 1 1 4

RESET FAULT

Control word

7 3 2 1 0

0 > 1X X X X 15

Transitions

Device status table

Status

6 5 3 2 1 0

NOT R EA DY 0 X 0 0 0 0

STARTING LOCKOUT 1 X 0 0 0 0

READY 0 1 0 0 0 1

ON 0 1 0 0 1 1

OPERATION ENABLED 0 1 0 1 1 1

FAULT 0 X 1 0 0 0

FAULT REACTION ACTIVE 0 X 1 1 1 1

QUICK STOP ACTIVE 0 0 0 1 1 1

Table 7.2 Bit combinations of the DRIVECOM state machine

Status bit

Table 7.1 Bit combinations

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MSD Servo Drive User Manual CANopen/EtherCAT

7.2 Option codes

The devices support option codes for four different options for shutting down the drive. These four options are:

• HALT function – interrupt an ongoing movement

• Drive disable function – stop movement by cancelling the drive enable (software)

• Quick-stop function – stop movement by initiating a quick stop

• Fault reaction function – stop movement in case of an error

For all variants, the option code sets the parameters for the desired device response.

CANopen Function

Object 605Ah Quick stop option code 0 to 8

Object 605Bh Shutdown option code -1 to 1

Object 605Ch Disable operation option code 0 and 1

Object 605Dh Halt option code 0 to 4

Object 605Eh Fault reaction option code 0 to 4

Table 7.3 Option codes

The objects form part of the data set as standard parameters of the devices.

NOTE: The quick-stop ramp is always executed with the smoothing preset

for the driving proﬁle ramps. The error stop ramp is always executed without smoothing, even when smoothing is programmed.

Supported

settings

7.3 Device control objects

The following table lists the implemented objects for controlling the drive:

Object

no.

0x6040 Control word VAR Unsigned16 rw

0x6041 Status word VAR Unsigned16 ro

Quick_Stop_Option_Code 0: disable drive function 1: slow down on slow down ramp 2: slow down on quick stop ramp 3: slow down on the current limit 4: slow down on the voltage limit

0x605A

0x605B

0x605C

0x605D

5: slow down on slow down ramp and stay in QUICK STOP 6: slow down on quick stop ramp and stay in QUICK STOP 7: slow down on the current limit and stay in QUICK STOP 8: slow down on the voltage limit and stay in QUICK STOP

Shutdown_Option_Code

-1: Response as per Quick_Stop_Option_Code 0: disable drive function 1: slow down with slow down ramp; disable the drive function

Disable_Operation_Option_Code 0: disable drive function 1: slow down with slow down ramp and then disable the drive function

Halt_Option_Code 0: disable drive, motor is free to rotate 1: slow down on slow down ramp 2: slow down on quick stop ramp 3: slow down on the current limit 4: slow down on the voltage limit

Object

name

Table 7.4 Device control objects

Object

Code

VAR Integ er16 rw

Typ e At t r.

Object

Drive ADmin istrAtor

no.

0x605E

0x6060

0x6061

Object

name

Fault_Reaction_Option_Code 0: disable drive, motor is free to rotate 1: slow down on slow down ramp 2: slow down on quick stop ramp 3: slow down on the current limit 4: slow down on the voltage limit

Modes_Of_Operation 1: proﬁle position mode 3: proﬁle velocity mode 6: homing mode 7: interpolated position mode 8: cyclic sync position mode (EtherCAT ONLY) 9: cyclic sync velocity mode (EtherCAT ONLY) 10: cyclic sync torque mode (EtherCAT ONLY)

Modes_Of_Operation_Display see 0x6060

Object

Code

VAR Integ er16 rw

VAR Integer8 wo

VAR Integer8 ro

Typ e At t r.

Table 7.4 Device control objects

7.4 Units and scalings, factor group

The Moog means of conﬁguring the scaling of mechanical and electrical units of variables necessary for control. The Wizard translates the application variables into representation of the parameters from the CiA402 factor group. The parameters from the factor group are listed below, and can also be set directly by the user.

Correlations must be calculated externally and the ﬁnal results entered in the relevant factor group parameter.

It is generally easier to have the Scaling Wizard calculate the parameter settings.

user interface offers a Scaling Wizard as a user-friendly

NOTE: The following objects are directly calculated in MSD Servo Drive:

- Position factor

- Velocity encoder factor

- Acceleration factor

The calculation is based on the objects stored in the formulae (e.g. feed constant, gear ratio etc.). It is in fact possible to change these variables in Moog

or via the bus, but they will be overwritten by the internal calculation as part of the control initialisation.

NOTE: In this section you will ﬁnd an overview of the objects from the factor

group and the underlying formulae for the calculation. You will ﬁnd practical examples for the implementation of scaling in the Application Manual.

Factor group as per CiA402:

Object

no.

0x607E Polarity VAR Unsigned8 rw

0x6089 Position_Notation_Index VAR Integer8 rw

0x608A

0x608B Velocity_Notation_Index VAR Integer8 rw

0x608C

0x608D Acceleration_Notation_Index VAR Integer8 rw

0x608E

0x608F Position_Encoder_Resolution VAR Unsigned8 rw

0x6090 Velocity_Encoder_Resolution AR R AY Unsigned32 rw

0x6091 Gear_Ratio AR R AY Unsigned32 rw

0x6092 Feed_Constant ARR AY Unsigned32 rw

0x6093 Position_ Factor ARR AY Unsigned32 rw

0x6094 Velocity_Encoder_Factor A RRAY Unsigned32 rw

0x6097 Acceleration_Factor AR R AY Unsigned32 rw

Position_Dimension_Index Only display for scaling block

Velocity_Dimension_Index Only display for scaling block

Acceleration_Dimension_Index Only display for scaling block

Object

name

Table 7.5 Factor group

The factor group objects can be calculated and entered directly by the user, independently of the Moog

Scaling Wizard. The corresponding encoder set-

tings must be made however.

Object

Code

VAR Unsigned8 rw

Typ e At t r.

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MSD Servo Drive User Manual CANopen/EtherCAT

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encoder increments

increments

motor shaft revolutions

feed

position encoder resolution • gear ratio

velocity unit • velocity encoder factor

MSD Servo Drive User Manual CANopen/EtherCAT

Calculation correlations for factor group parameters

Object 608Fh: Position encoder resolution

The position encoder resolution deﬁnes the relationship between the encoder and motor revolutions.

position encoder resolution =

Object 6090h: Velocity encoder resolution

The velocity encoder resolution deﬁnes the relationship between the encoder increments per second and motor revolutions per second

velocity encoder resolution =

Object 6091h: Gear ratio

Gear ratio deﬁnes the transmission ratio of a gear in relation to the motor.

It is deﬁned as follows:

gear ratio =

driving shaft revolutions

motor revolutions

encoder

motor

revolutions

second

Object 6093h: Position factor

The position factor converts the desired position (in position units) into the internal format (in increments).

position factor =

feed constant

Object 6094h: Velocity encoder factor

The velocity encoder factor converts the desired velocity (in velocity units) into the internal format (in increments).

velocity encoder factor =

velocity encoder resolution • gear ratio • position unit • F velocity (notation index)

feed constant • velocity unit • second • F position (notation index)

An example of F velocity

would be 102 or 10-6

(notation index)

or F position

(notation index)

Object 6097h: Acceleration factor

The acceleration factor converts the acceleration (in acceleration units per second) into the internal format (in increments per second).

acceleration factor =

acceleration unit • second

Object 6092h: Feed constant

The feed constant deﬁnes the feed per drive shaft revolution in position units. This includes the gear if present.

feed constant =

driving shaft revolutions

Object 607Eh: Polarity

The position setpoint and position actual value are multiplied by 1 or -1 depending on the value of the polarity ﬂag.

The same applies to the speed reference and actual speed value.

Please observe the operation of the object polarity as per CiA402 V2.0.

Bits 0 to 5 = reserved (don't use) Bit 6 = velocity polarity Bit 7 = position polarity

NOTE: As in the case of the other objects in the factor group, changes in

polarity only take effect if the control is switched off.

7.5 I/O map

The status of the servo drive's inputs and outputs can be determined using various objects. The following objects and parameters are implemented:

7.5 .1 Object 60FDh – digital inputs

This object is implemented in compliance with device proﬁle CiA402. It allows digital input functions deﬁned in the proﬁle to be evaluated. That is, it does not offer an input map of existing physical inputs, but rather a function-related input map.

So the input to which, for example, a limit switch is connected is irrelevant. The bit that deﬁnes the state of the limit switch is permanently deﬁned within the object.

Bit Assignment

0 Negative limit switch

1 Positive limit switch

2 Home switch

3 to 15 Reserved

16 to 31 Manufacturer-speciﬁc (curr. not implemented)

18 Status requirement for safe standstill

19 ENPO

Table 7.6 Object 60FDh – digital inputs

7.5 .2 Object 2079h – MPRO_INPUT_STATE

This manufacturer-speciﬁc object provides an input map of all the MSD Servo Drive digital inputs. The object is mappable and transferable by PDO. The assignment is as follows:

Bit Assignment

0 Status of input ENPO

1 Status of input ISD00

2 Status of input ISD01

3 Status of input ISD02

4 Status of input ISD03

5 Status of input ISD04

6 Status of input ISD05

7 Status of input ISDSH

8 to 15 Don’t use

16 Status of input ISD06

17 Don’t use

18 Status of input ISA00

19 Status of input ISA01

30 to 31 Don’t use

Table 7.7 Object 2079h – MPRO_INPUT_STATE

7.5 .3 Object 208Fh – MRPO_OUTPUT_STATE

This manufacturer-speciﬁc object provides an input map of all the MSD Servo Drive digital outputs. The object is mappable and transferable by PDO. The assignment is as follows:

Bit Assignment

0 Status of output OSD00

1 Status of output OSD01

2 Status of output OSD02

3 to 5 Don’t use

6 Status of output motor brake

Table 7.8 Object 208Fh – MPRO_OUTPUT_STATE

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Bit Assignment

7 Status of relay output

8 to 14 Don’t use

15 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" output selectors (parameter 122–124) must be conﬁgured for access via ﬁeldbus. The two setting options provided for this are valid for all three digital outputs (OSD00, OSD01, OSD02) and are shown in the following table.

Setting Description

(39) Output set via communication option in 1 ms cycle

(40) Output set via communication option in NC cycle

Table 7.9 Setting "MPRO_Output_FS_OSDxx" parameters (122–124)

Output set via communication option, updated in 1 ms cycle

Output set via communication option, updated in control cycle (62.5 µs)

MSD Servo Drive User Manual CANopen/EtherCAT

7.5.5 Object 60FE, digital outputs:

When the manufacturer-speciﬁc parameter “Function selector for digital output” is set to CAN (13), the associated output can be inﬂuenced by way of this object.

Bit assignment of the object Bit

60FE assignment

OSD00 16

OSD01 17

OSD02 18

OSD03 25

OSD04 26

OSD05 27

8 Operation modes CiA402

8.1 CiA402 compatible operation modes

Devices from the MSD Servo Drive families support CiA402 operation modes

– Proﬁle position mode

– Proﬁle velocity mode

If the drive is operated in an operation mode in which the internal proﬁle generator is inactive and cyclic setpoints are transferred (e.g. cyclic synchronous position mode), the interpolation time must be conﬁgured.

No. Name Function

306 CON_IpRefTs Cycle time of setpoints in IP mode

Table 8.2 Conﬁguring MSD Servo Drive

The interpolation time CON_IpRefTs represents the cycle time in which setpoints from a higher-level drive are expected.

8.1. 2 Control word CiA402

– Homing mode

– Interpolated position mode

– Cyclic Synchronous Position mode (EtherCAT only)

– Cyclic Synchronous Velocity mode (EtherCAT only)

– Cyclic Synchronous Torque mode (EtherCAT only)

The operation mode is switched via CANopen object 6060h modes of operation. This switch is possible in "Operation enable" (power to motor) status. The current operation mode is indicated in the CANopen object 6061h modes of operation display.

8.1.1 Conﬁguring MSD Servo Drive for activation via CiA402

For activation via CANopen (or CoE – EtherCAT) as per CiA402 proﬁle, the following parameters must be set in the device:

No. Name Function Setting

159 MPRO_CTRL_SEL

165 PRO _REF_ SEL Setpoint selector CiA4 02

Table 8.1 Conﬁguring MSD Servo Drive

These parameters can be found under "Motion Proﬁle" --> "Basic Settings"

Control location selector

CiA4 02

Object 6040h-control word

The object is also mapped in the parameter P 2208-MP_Controlword. The control word contains bits for:

– status control,

– control of operating modes and

– manufacturer-speciﬁc options.

The bits in the control word are deﬁned as follows:

15 11 10 9 8 7 6 4 3 2 1 0

Manufac turer-

speciﬁc

O O O M O M M M M

MSB LSB

O – Optional M – Mandatory

Table 8.3 Control word CiA402

reserved Stop

Fault Reset

Operation

mode-

speciﬁc

Enable

operation

Quick

stop

Enable

voltage

Switch

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Bits 0–3 and 7:

DEVICE CONTROL COMMANDS are triggered by the following schema in the control word:

Bit of the control word

Command

Shutdown 0 X 1 1 0 2, 6, 8

Switch on 0 0 1 1 1 3*

Switch on 0 1 1 1 1 3**

Disable voltage

Quick stop 0 X 0 1 X 7, 10, 11

Disable operation

Enable operation

Fault reset

Bits marked X are irrelevant.

* ... In SWITCHED ON status the drive executes the functionality of this state. ** .. There is no functionality in SWITCHED ON status. The drive does not do any thing in this state.

Fault reset

0 X X 0 X 7, 9, 10, 12

0 0 1 1 1 5

0 1 1 1 1 4, 16

Enable

operation

X X X X 15

Quick

stop

Enable

voltage

Switch

Table 8.4 Device control commands

Transitions

Bits 4–6 and 8

Bits 4–6 and 8 are interpreted differently according to the active operation mode ("modes of operation display" object).

Operation mode

Cyclic

synchro-

nous

position

mode

(Ether-

Bit

Proﬁle

position

mode

Proﬁle

velocity

mode

Homing

mode

Interpo-

lated

position

mode

CAT)

6 abs/rel reserved reserved reserved reserved reserved reserved

8 Stop Stop Stop Stop reserved reserved reserved

New

setpoint

Change set

immediately

reserved

reserved reserved reserved reserved reserved reserved

Homing

operation

start

Enable IP

mode-

reserved reserved reserved

Cyclic

synchro-

nous

velocity

mode

(Ether-

CAT)

synchro-

torque

(Ether-

Table 8.5 Mode-speciﬁc bits in the control word

Use of the speciﬁc bits is explained in more detail in the sections on the operation modes.

Bits 7 and 11–15

Bit Name Value Description

11 No function

. . .

15 No function

Fault

Reset

0  1

Fault reset

No function

Cyclic

nous

mode

CAT)

8.1.3 Status word CiA402

Bits 0–3, 5 and 6:

Object 6041h status word

The content of the object is also mapped in parameter P 2209 – MP_Statusword. The status word indicates the current status of the drive. It contains the following bits for:

– current state of the device,

– status of the operation mode and

– manufacturer-speciﬁc options.

Status word bits

Bit Description M/O

0 Ready to switch on M

1 Switched on M

2 Operation enabled M

3 Fault M

4 Voltage enabled M

5 Quick stop M

6 Switch on disabled M

7 Warning O

8 Manufacturer-speciﬁc O

9 Remote M

10 Target reached M

11 Internal limit active M

12 – 13 Operation mode-speciﬁc O

14 – 15 Manufacturer-speciﬁc O

Table 8.6 Bits in the status word

These BITS indicate the STATUS of the drive.

Value (binary) State

xxxx xxxx x0xx 0000 Not ready to switch on

Xxxx xxxx x1xx 0000 Switch on disabled

Xxxx xxxx x01x 0001 Ready to switch on

Xxxx xxxx x01x 0011 Switched on

Xxxx xxxx x01x 0111 Operation enabled

Xxxx xxxx x00x 0111 Quick stop active

Xxxx xxxx x0xx 1111 Fault reaction active

Xxxx xxxx x0xx 1000 Fault

Table 8.7 Device state bits in the status word

Bit 4: Voltage enabled

Power supply is connected.

Bit 5: Quick stop

In the LOW state this bit indicates that the drive is executing a "quick stop". Bits 0, 1 and 2 of the status word are set to 1 when the drive is ready for operation. The other bits indicate additional states of the drive, such as execution of a "quick stop".

In the event of an error the FAULT bit is set.

Bit 7: Warning

Warnings, such as temperature limits, are indicated in bit 7. The device state does not change when warnings are issued. For more information on the warning given, refer to the FAULT CO DE.

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Bit 8: Manufacturer-speciﬁc

Currently not used.

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Bit 9: Remote

Currently not used.

Bit 10: Target reached

The bit is automatically set when a SETPOINT is reached. The setpoint depends on the OPERATING MODE. A change to the setpoint by the master changes this bit. With "quick stop" OPTION CODE 5, 6, 7 or 8, this bit is set when the "quick stop" ends. This bit is also set at a standstill in response to a STOP request.

Bit 11: Internal limit active

This bit is set when internal limits are reached. This bit is dependent on OPERATION MODE.

Bits 12 and 13:

These bits are dependent on OPERATION MODE – see following section.

The following table provides an overview:

Operation mode

Cyclic

synchro-

nous

torque

mode

(Ether-

CAT)

Targe t

torque

ignored

Bit

Table 8.8 Mode-speciﬁc bits in the control word

Proﬁle

position

mode

Setpoint

acknowledge

Following

error

Proﬁle

velocity

mode

Speed

Max. slip-

page error

Homing

mode

Homing attained

Homing

error

Interpo-

lated

position

mode

IP mode

active

reserved

Cyclic

synchro-

nous

position

mode

(Ether-

CAT)

Targe t position ignored

Following

error

Cyclic

synchro-

nous

velocity

mode

(Ether-

CAT)

Targe t velocity ignored

reserved reserved

Bits 14 and 15:

These bits are implemented speciﬁc to the manufacturer; explanatory notes for them are given in the sections on the various operation modes.

8.2 Operation modes with proﬁle generation in drive

For operation modes with proﬁle generation in the drive, the drive merely transmits a target position or speed for the movement to the servo drive. How the servo drive reaches this position/speed – i.e. the conﬁguration of the driving proﬁle (e.g. trapezoidal, triangular/steepness of ramps etc.) – is determined and executed entirely by the servo drive.

8.2.1 Proﬁle velocity mode

This operation mode (mode of operation = 3) is used to activate the device at a velocity setpoint as per the CiA402 proﬁle. The drive is in speed control in this operation mode.

The units, setpoint and ramp variables are derived from the factor group settings. See also section 7.4 "Units and scalings".

The device supports the following objects for this operation mode:

Object

no.

0x606C Velocity actual value VAR Int32

0x60FF Target velocity VAR Int32

0x6094 Velocity encoder factor A RR AY Int32

0x6083 Proﬁle acceleration VAR Int 32

0x6084 Proﬁle deceleration VAR Int32

0x6085 Quick stop deceleration VAR UInt32

0x607E Polarity VAR UInt8

Table 8.9 Proﬁle velocity mode

Object

name

Object

code

Typ e

Note: In addition to the objects listed in the table, object 0x6064 "Position

Actual Value" is also updated cyclically in proﬁle velocity mode.

Structure of operation mode

Mode-dependent bits in the control word

The structure presented below is based on this operation mode:

Object

no.

8 Stop

Table 8.10 Proﬁle velocity mode bits in the status word

Object

name

Object

code

0 Execute the motion

1 Stop axle

Typ e

Fig. 8.1 Structure of proﬁle velocity mode

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MSD Servo Drive User Manual CANopen/EtherCAT

8.2.2 Homing mode

This operation mode (mode of operation = 6) is used for homing a position-controlled axle. The drive executes a movement according to the programmed homing method.

Note: The Touch probe function enables control-led homing of the drive.

See section 10.1.

The various homing methods differ in the integration of the hardware limit switch, home switch and index signal into the encoder system. It should be noted here that appropriate digital inputs should be conﬁgured for limit switch and home switch functionality:

– Limit switch function

– LCW – right-hand hardware limit switch

– LCCW – left-hand hardware limit switch

– HOMSW – home switch

The following objects are supported by the device for this operation mode:

Object

no.

0x607C Home_Offset VAR Integer32 rw

0x6098 Homing_Method VAR Integer8 rw

0x6099 Homing_Speeds * AR R AY Unsigned32 rw

0x609A Homing_ Acceleration VAR Unsigned32 rw

0x6099.01 – quick jog

0x6099.02 – slow jog

Table 8.11 Homing mode

Object

name

Object

code

Typ e Attr.

control_word

status_word

homing_speeds

homing_acceleration

home_offset

Fig. 8.2

Homing function

Homing

position_demand_value*

MSD Servo Drive supports all 35 homing methods deﬁned in CiA402.

The individual homing methods' functions and movement sequences are described in the device application manuals.

Home offset:

The HOME OFFSET object is the difference between position 0 of the application and the HOME POSITION found during homing. It is represented in position units. At the end of a homing run the HOME OFFSET is added to the HOME POSITION found. All subsequent absolute positioning operations relate to this new home position.

The homing method and the associated properties can be changed in two ways. Homing can be changed either via Moo

or via CAN.

For conﬁguration via CANopen the objects of the homing mode can be directly addressed. For example, for a change to the homing method, object 0x6098 can be changed.

Mode-speciﬁc bits in the control word

Bit 4 – HOMING OPERATION START

Bit 8 – STOP

Bit Name Value Description

0 Homing mode inactive

8 Stop

Homing

operation start

0  1

0 Homing mode active

1  0

0 Execute the instructions of bit 4

1 Stop axle with proﬁle deceleration

Start homing mode

Interrupt homing mode

Table 8.12 Homing mode bits in the control word

Mode-speciﬁc bits in the status word

Bit 10 – TARGET REACHED Bit 12 – HOMING ATTAINED Bit 13 – HOMING ERROR Bit 14 – ROT_0

Bit Name Value Description

10 Target reached

14 ROT_0 1

Homing attained

Homing

error

0 Homing mode not yet completed

1 Homing mode carried out successfully

0 No homing error

Table 8.13 Homing mode bits in the status word

Stop = 0: Home position not reached Stop = 1: Axle decelerates

Stop = 0: Home position reached Stop = 1: Axle has velocity 0

Homing error occurred;

Homing mode not carried out successfully

The error cause is found by reading the error code

Axle at standstill

Speed is much lower than parameter

745 MON_REFWINDOW

8.2.3 Proﬁle position mode

In this operation mode (mode of operation = 1) the axle executes relative or absolute single positioning movements.

Object

no.

0x607A Target_Position VAR Integer32 rw

0x607d Software position limit A R RAY Inte ge r32 rw

0x6081 Proﬁle_Velocity VAR Unsigned32 rw

0x6083 Proﬁle_Acceleration VAR Unsigned32 rw

0x6084 Proﬁle_Deceleration VAR Unsigned32 rw

0x6085 Quick stop deceleration VAR Unsigned32 rw

0x6064 Position actual value VAR Int eg er32 r

0x607E Polarity VAR Unsigned8 rw

Table 8.14 Proﬁle position mode

Units of the parameters are set by way of the Scaling Wizard or the objects from the factor group.

Object

name

Object

code

Typ e Attr.

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Structure of operation mode

target_position

(607Ah)

profile_velocity

(6081h)

end_velocity

(6082h)

max_profile_velocity

(607Fh)

max_motor_speed

(6080h)

profile_acceleration

(6083h)

profile_deceleration

(6084h)

quick_stop_deceleration

(6084h)

Fig. 8.3 Structure of proﬁle position mode

[position

units]

[speed units]

Multiplier

velocity_factor_1

(6095h)

[acceleration units]

Limit

Function

positio_range_limit (607Bh) software_position_limit (607Dh) home_offset (607Ch)

Minimum

Comparator

Multiplier

position_factor (6093h) polarity (607Eh)

Limit Function

velocity

limit

Limit Function

max_acceleration (60C5h) max_deceleration (60C8h)

position

velocity

acceleration

Mode-speciﬁc bits in the control word

Bit 4 – New setpoint Bit 5 – Change set immediately Bit 6 – abs/rel Bit 8 – Stop

Bit Name Value Description

4 New setpoint

Change set

immediately

6 abs/rel

8 Stop

Table 8.15 Proﬁle position mode bits in the control word

0 Does not assume target position

1 Assume target position

Finish the current positioning and then start the next positioning

Interrupt the actual positioning and start the next positioning

0 Target position is an absolute value

1 Target position is a relative value

0 Execute positioning

Stop axle with proﬁle deceleration (if not supported with proﬁle acceleration)

Mode-speciﬁc bits in the status word

Bit 10 – Target reached Bit 12 – Setpoint acknowledge Bit 13 – Following error Bit 14 – ROT_0

Bit Name Value Description

Targe t

reached

Setpoint

acknowledge

Table 8.16 Proﬁle position mode bits in the status word

Stop = 0: Target position not reached Stop = 1: Axle decelerates

Stop = 0: Target position reached Stop = 1: Velocity of axle is 0

Trajectory generator has not assumed the positioning values ( yet)

Trajectory generator has assumed the positioning values

Bit Name Value Description

13 Following error

14 ROT_0 1

Table 8.16 Proﬁle position mode bits in the status word

0 No following error

1 Following error

Axle at standstill speed is much lower than parameter 745 MON _REFWINDOW

Functional description

This OPERATION MODE supports two different options for target position input.

data

new_setpoint

change_set_immediately

setpoint_acknowledge

(1)

(6)

(2)

(3)

(4)

(5)

SET OF SETPOINTS:

When the target position is reached, the drive directly approaches the next target position; the axle is not stopped when the ﬁrst target position is reached.

SINGLE SETPOINT:

When the target position is reached the drive indicates the fact to the master. Then the drive receives a new setpoint. At each target position the drive is stopped before being moved on to the next target position.

The two options are controlled via the timing of the NEW SETPOINT and CHANGE SET IMMEDIATELY bits in the control word and the SETPOINT ACKNOWLEDGE bit in the status word. These bits allow a new positioning operation to be initiated even while the current one is ongoing.

Fig. 8.4

Setpoint transmission from a host computer

If the ‘CHANGE SET IMMEDIATELY’ bit is set to "0" (solid line in above diagram) a SINGLE SETPOINT is expected by the drive (1).

When the setpoint has been transmitted to the drive, the master activates the positioning by setting the "new setpoint" bit in the control word (2). The drive responds by setting the "setpoint acknowledge" bit in the status word (3) once the new data has been detected and saved. Now the master can delete the "new setpoint" bit (4). Then the drive deletes the "set-point acknowledge" bit to signal that a new setpoint is accepted (5). In the diagram the mechanism initiates a speed 0 on reaching the target position at time t1. After the message indicating the target position has been reached, the next target position can be initiated at time t2.

8.2.4 Velocity mode (V/F mode)

This operation mode (mode of operation = 2) is used to control the drive in frequencyregulated mode (V/F mode).

The units, setpoint and ramp variables are derived from the factor group settings. 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 Ty pe

0x6042 vl target velocity VAR Inte ger16

Table 8 .17 Velocity mode

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Object no. Object name Object code Ty pe

0x6046 vl min./max. amount AR R AY Unsigned32

0x6048 vl velocity acceleration A RRAY Unsigned32

0x6049 vl velocity deceleration A RRAY Unsigned32

Table 8 .17 Velocity mode

In this operation mode, the device must be scaled in the unit Hertz (Hz). This requires the following settings using the Scaling Wizard in the standard/CiA402 area:

Position  rev

Speed  rev/s (=> 1/s => Hz)

Acceleration  rev/s/s

The limits then also have to be set. Speciﬁcally, these are:

Object no. Object name Description

0x6046 vl min./max. amount

0x6048 vl velocity acceleration

0x6049 vl velocity deceleration

Table 8.18 Limits in V/F mode

Index

0 Min. speed in user unit

1 Max. speed in user unit

Index

0 Speed change in user unit

1 Per time unit

Index

0 Speed change in user unit

1 Per time unit

8.3 Cyclical operation modes, proﬁle generation in the drive

In the cyclical operation modes described below, the proﬁle generation takes place in the drive; the drive's internal proﬁle generator is not active. The drive interpolates between the drive setpoints transmitted cyclically (according to position, speed, torque operation mode).

8. 3.1 Interpolated position mode

The "interpolated position mode" operation mode (mode of operation = 7) is a further option, alongside proﬁle position mode, for positioning axles via CANopen. It is used for co-ordinated movement of multiple axles (or a single axle) via one control.

In Interpolated Position mode, though, the driving proﬁle is created entirely by the control. It cyclically transmits roughly interpolated position values between which the servo drive handles the ﬁne interpolation (e.g. linear). Accordingly,

the proﬁle for the axle to follow is determined through the change in target positions for each time unit. Position control is therefore implemented not only in the drive, but also at the control level.

The following objects are supported by the device for this operation mode:

Object no. Object name Object code Typ e

0x60C0 Interpolation sub mode select VAR Inte ger16

0x60C1 Interpolation data record AR RAY Integer32

0x60C2 Interpolation time period R ECORD Index0: Unsigned8

Index1: Integer8

Table 8.19 Supported objects

Fig. 8.5 Structure of interpolated position mode

Mode-speciﬁc bits in the control word

Bit Name Value Description

4 Enable IP mode

8 Stop

Table 8.20 Mode-speciﬁc bits in the control word

0 Interpolated position mode inactive

1 Interpolated position mode active

0 Execute the instruction of bit 4

1 Stop axle

Mode-speciﬁc bits in the status word

Bit Name Value Description

Stop = 0: Position not (yet) reached Stop = 1: Axle decelerates

Stop = 0: Position reached Stop = 1: Axle has velocity 0

10 Target reached

12 IP mode active

14 A xle synchronised

0 Interpolated position mode inactive

1 Interpolated position mode active

0 Axle not synchronised

1 Axle synchronised

Table 8.21 Mode-speciﬁc bits in the control word

8.3.2 Cyclic Synchronous Position mode (EtherCAT only)

In this operation mode (mode of operation = 8) the drive cyclically provides the position setpoints for the drive. The position, speed and current are controlled by the drive.

As an option, an additional speed and torque setpoint can be transmitted as a precontrol value.

The following objects are supported by the device for this operation mode:

Object no. Object name Object code Type

0x607A Target position VAR I nte ge r32

0x60B1 Velocity offset VAR Integer32

0x60B2 Torque offset VA R I nte ge r16

Table 8.22 Supported objects

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Fig. 8.6 Overview of cyclic synchronous position mode

Mode-speciﬁc bits in the status word

Bit Name Value Description

12 Target position

13 Following error

Table 8.23 Mode-speciﬁc bits in the status word

0 Target position ignored

1 Target position shall be used as input

0 No following error

1 Following error

MSD Servo Drive User Manual CANopen/EtherCAT

The following objects are supported by the device for this operation mode:

Object no. Object name Object code Type

0x60FF Target velocity VAR Integ er32

0x60B1 Velocity offset VAR Integer32

0x60B2 Torque offset VA R I nte ge r16

Table 8.24 Supported objects

Fig. 8.7

Overview of cyclic synchronous velocity mode

8.3.3 Cyclic Synchronous Velocity mode (EtherCAT only)

In this operation mode (mode of operation = 9) the drive cyclically transmits speed setpoints to the drive, which controls the speed and current. As an option, an additional speed setpoint and additional torque setpoint for torque pre-control can be transmitted by the drive.

Mode-speciﬁc bits in the status word

Bit Name Value Description

12 Target velocity

Table 8.25 Mode-speciﬁc bits in the status word

0 Target velocity ignored

1 Target velocity shall be used as input

8.3.4 Cyclic Synchronous Torque mode (EtherCAT only)

8.3.5 External pre-control of speed/torque

In this operation mode (mode of operation = 10) the drive cyclically transmits torque setpoints to the drive, which controls the current. As an option, an additional torque setpoint can be transmitted.

Object no. Object name Object code Type

0x6071 Target torque VAR Integer16

0x60B2 Torque offset VA R I nte ge r16

Table 8.26 Supported objects

Fig. 8.8

Overview of cyclic synchronous torque mode

Mode-speciﬁc bits in the status word

When using the servo drive in the cyclic synchronous position mode (CSP, see section

9.3.2) or cyclic synchronous velocity mode (CSV, see section 9.3.3), it is possible to

specify external pre-control values for the speed and torque via the drive. The internal pre-control function in the drive must be deactivated for this. The relevant settings can be found in the tables below:

Object no. Object name Data type Scaling

0x60B1 Velocity offset Integer32 As per scaling for speeds (CiA402 factor group)

0x60B2 Torque offset I ntege r16 In [‰] based on rated motor torque in object 0x6076, i.e.

Table 8.28 CiA402 objects for external pre-control

Parameter Function Value

375 – CON_IP_SFF-

Scale

376 – CON_IP_TFF-

Scale

379 – CON_ IP_FF-

Mode

•Subindex0 PositionHighResolution 0 = 32-bit position setpoint (default)

•Subindex1 Source for speed pre-control values 0 = internal pre-control (default)

•Subindex2 Source for torque pre-control

Table 8.29 MSD Servo Drive/MSD Servo Drive Compact device parameters

Scaling of speed pre-control 0–100% based on the pre-control value

Scaling of torque pre-control 0–100% based on the pre -control value

Switchover of pre-control sources and speciﬁc setpoint formats

values

a value of 1000 corresponds to the rated motor torque.

See individual subindexes

1 = external pre-control

0 = internal pre-control (default) 1 = external pre-control

Bit Name Value Description

12 Target torque

Table 8.27 Mode-speciﬁc bits in the status word

0 Target torque ignored

1 Target torque shall be used as input

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Types of interpolation:

When using external pre-control via EtherCAT, both linear and cubic or spline interpolation can be applied. The type of interpolation is set via parameter P 370 – CON_IP. However, do NOT use the setting "SplineExtFF". This type of interpolation is reserved for a different operation mode.

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DriveADministr Ator

MSD Servo Drive User Manual CANopen/EtherCAT

Checking pre-control variables in Moog

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. The variables nref_Ext (external speed pre-control) and mref_Ext (external torque pre-control) can be recorded with the internal oscilloscope.

9 Emergency objects

Drive ADmin istrAtor

Byte 0 1 2 3 4 5 6 7

Bit: 0 ... 7 8 ... 15 16 ... 23 24 ... 39 40 ... 47 4 8 ... 63

Proﬁle Device proﬁle CiA402 Servo drive

Error

Table 9.1 Emergency telegram

Emergency error

code as per

CiA4 02

The decisive factors for rapid localisation are the error code and error location. Byte 3 of the emergency telegram contains the error code, which provides an initial categorisation of the cause of the error. The precise cause of the error is speciﬁed by the error location in byte 4. Bytes 5, 6 and 7 contain the internal operating hours meter of the device.

CANopen errors – i.e. incorrect conﬁgurations, bus disturbances etc. – are indicated by error code 0xFF00.

Error

(object

1001 h)

Error

number

Error

location

Operating hours meter

(in full hours)

9.1 Error acknowledgement, general

Device errors can be acknowledged by the following mechanisms:

• Control word bit 7, edge-controlled

• Control input with programmed reset functionality

• Hardware enable ENPO to control terminal

• Operation via two buttons

• Moog

user interface

• Writing value 1 to parameter 153 MPRO_DRVCOM_FaultReset via the control unit or bus system

NOTE: For a detailed list of all error messages and remedial measures, please

refer to the MSD Servo Drive Application Manual on our product CD.

9.2 Error acknowledgement via bus system

Note: When an error occurs the drive executes a response as per the param-

eterised error response. These can be set separately for individual errors.

Note: The status indicators of the 7-segment display are explained in the ap-

plication manual.

Note: A full list of all error messages from MSD Servo Drive, including assign-

ment of the corresponding emergency code, can be found in the MSD Servo Drive Application Manual.

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Another option is available via the object 6040 h control word:

Draft 402 6040h VAR Control word I nte ger16 rw M

An error acknowledgement is executed by a rising edge at bit 7 in the control word. Resetting of the error is signalled by transmission of the following emergency message:

ID Data bytes Description

Emergency 00 00 00 00 00 00 00 00 Emergency message acknowledgement error

Table 9.2 Error acknowledgement

If the cause of the error is not eliminated, the servo drive returns to error status after transmission of another emergency message.

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MSD Servo Drive User Manual CANopen/EtherCAT

10 Technology functions

10.1 Touch probe

Positions of the drive can be recorded on the basis of certain input signals using the Touch probe function. Possible input signals are:

• Digital input ISD05

• Digital input ISD06

• Index signal

It is possible to switch between different implementations using parameter P 2285 "Touch probe function selector".

• CiA402 implementation (not yet implemented)

• Manufacturer-speciﬁc implementation

10 .1.1 Description of manufacturer-speciﬁc implementation

In order to be able to use this function, parameter P 2285 Touch probe function selector must ﬁrst be set to 2 = "BECK2" (the setting "BECK1" is currently not supported).

If signals are to be recorded via the two digital inputs ISD05 and ISD06, these will have to be conﬁgured using parameters P 106 + P 107 MPRO_Input_FS_ISD0x as measuring buttons (setting 15). These parameters can be found in the subject area "Conﬁguration of inputs/outputs  Digital inputs".

Finally, the following objects also have to be mapped:

RxPDO 0x60B8 Touch probe function

TxPDO 0x60B9 Touch probe status

0x60BA Touch probe pos1 pos value

Object 0x60B8 "Touch probe function" is used to specify whether the touch probe function 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-controlled).

The reading of the stored position is controlled by bits 8 – 12. On receipt of the conﬁgured signal, a new measurement must be started by resetting and then reconﬁguring the corresponding bit.

Bit Value (bin)

5–7 - - reserved

8–12

13–15 - - reserved

Table 10.1 Object 0x60B8: Touch probe function

00000000 00000001

00000000 00000010

00000000 00000100

00000000 00001000

00000000 00010000

00000001 00000000

00000010 00000000

00000011 00000000

00000100 00000000

00000101 00000000

Value

(hex)

xx01

xx02

xx04 Enable external latch 2 (positive rise)

xx08 Enable external latch 2 (negative rise)

xx10

01xx

02xx

03xx Read external latch 2 (positive rise)

04xx Read external latch 2 (negative rise)

05xx

Enable external latch 1 (positive rise) via Touch probe module

Enable external latch 1 (negative rise) via Touch probe module

Enable internal latch C (positive rise) via MC_Home module

Read external latch 1 (positive rise) via Touch probe module

Read external latch 1 (negative rise) via Touch probe module

Read internal latch C (positive rise) via MC_Home module

Description

Object 0x60B9 returns the status of the Touch probe function. If a signal activated by object 0x60B8 has been registered, this is indicated in the status word by setting the corresponding bit (0– 4).

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Drive ADmin istrAtor

MSD Servo Drive User Manual CANopen/EtherCAT

Bit Value (bin)

5–7 - - reserved

8 –11

12–15

00000000 00000001

00000000 00000010

00000000 00000100

00000000 00001000

00000000 00010000

00000001 00000000

00000010 00000000

00000011 00000000

00000100 00000000

00000101 00000000

00010000 00000000

00100000 00000000

01000000 00000000

10000000 00000000

Value

(hex)

xx01

xx02

xx04 E xternal latch 2 valid

xx08 External latch 2 valid

xx10 Internal latch C valid (positive rise) via MC_Home module

01xx

02xx

03xx Acknowledge value external latch 2 (positive rise)

04xx Acknowledge value external latch 2 (negative rise)

05xx

1xxx reserved

2xxx reserved

4xxx reserved

8xxx reserved

External latch 1 valid (positive rise) via Touch probe module

External latch 1 valid (negative rise) via Touch probe module

Acknowledge value ex ternal latch 1 (positive rise) via Touch probe module

Acknowledge value ex ternal latch 1 (negative rise) via Touch probe module

Acknowledge value internal latch C (positive rise) via MC_Home module

Description

Table 10.2 Object 0x60B9: Touch probe status

The stored position is written to object 0x60BA after bits 8–11 have been set in the status word.

Time ﬂowchart:

The time sequence of a measurement is shown using the example of measuring button ISD05 and the corresponding bits. The time sequence applies analogously to the other conﬁgurable signals.

Fig. 10.1 Time sequence of Touch probe function

10 .1. 2 Control-led homing

The Touch probe function enables control-led homing of an axis. All the input signals described in section 10.1.1 can be used for this.

10.2 Indexing table function

The indexing table function is set in Moog in the Movement Proﬁle  Scalings/Units subject area.

A detailed description of the function can be found in the MSD Servo Drive Application Manual.

5 using the Scaling Wizard

The following objects are used to conﬁgure the function.

Object no. Object name

0x607B

0x60F2

Position range limit

Positioning option code

Object

code

AR R AY Inte ger32

VAR Unsigned16

Table 10.3 Objects for indexing table function

Typ e

Object 0x60F2 "Positioning option code" is used for the indexing table, as opposed to the scaling deﬁned according to 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

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MSD Servo Drive User Manual CANopen/EtherCAT

11 EDS ﬁle, object directory,

parameter list

11.1 EDS ﬁle, object directory

An EDS ﬁle is available for integrating the devices into the CAN master. The ﬁle is shipped with the ﬁrmware. It contains all the CAN objects of the servo drives.

NOTE: MSD Servo Drive has parameters with default values in the device that

may deviate from the default values in the EDS ﬁle. These are power stagespeciﬁc 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

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CANopen/EtherCAT for MSD Servo Drive User Manual

12 Bibliography

MSD Servo Drive Operation Manual Moog GmbH

MSD Servo Drive User Manual Moog GmbH

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://ww w.can-cia.org/

EtherCAT Communication Speciﬁcation Version 1.0 2004 http://www.ethercat.org/

EtherCAT Indicator Speciﬁcation Proposal V0.91 2005 http://www.ethercat.org/

IEC 61158-2-12 to IEC 61158- 6-12

Hanns-Klemm-Straße 28 D-71034 Böblingen www.moog.com/industrial drives-support@moog.com

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[ Section 12 ]

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MSD Servo Drive User Manual CANopen/EtherCAT

Fig. 13.1 Appendix: Glossary

CAL: (CAN Application Layer). CiA protocol, primarily describes the way in which

CAN open: Based on CAL deﬁnition

CiA: (CAN in Automation). CAN bus user group, generally deﬁnes a protocol for

variables are transmitted without deﬁning their function or content. 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. Not implemented by Moog GmbH because servo drives are always slaves and have no "control function". LMT: (Layer Management). See NMT DBT: (Identiﬁer Distributor). See NMT

Corresponds to CiA Draft Standard 301 Expands the CAL deﬁnition to include function and unit assignment of the predeﬁned variables This deﬁnition is being drafted by CiA and various user groups (MOTION for drive technology and I /O for input s/outputs) (e.g. variable for torque in Nm).

automation.

General points on the various protocol deﬁnitions

CAL: Mainly in use in Europe, Moog GmbH has currently implemented a protocol

DeviceNet: Mainly in the USA (corresponds to CAL deﬁnition).

which can be activated by a CAL master. Initialisation has been simpliﬁed compared to CAL (CCDA), e.g. addressing via jumper, although this does not affect operation.

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MSD Servo Drive User Manual CANopen/EtherCAT

Index

DriveADministrAtor

Access to device parameters .....................................................................27

Address setting ...........................................................................................9

Address setting using DIP switch ...............................................................10

Appendix ..................................................................................................73

ASCII 30

Assignment ...............................................................................................10

Assignment of connection X19 .................................................................12

Assignment of data types in the data ﬁeld ................................................27

Asynchronous types no. FE h and FF h .......................................................32

Bibliography ..............................................................................................71

Bit combinations .......................................................................................43

Bit combinations of the DRIVECOM state machine ....................................43

Control functions ......................................................................................22

Control word CiA402 ...............................................................................49

Cross-manufacturer communication ............................................................7

Cyclic synchronous types no. 1–F0 h .........................................................32

Data handling ...........................................................................................22

Data types ..........................................................................................27, 35

Device control and state machine ..............................................................41

Device control commands .........................................................................50

Device controlling .....................................................................................41

Device control objects ...............................................................................44

Device with CANopen Option ...................................................................10

Digital inputs ............................................................................................47

DIP switches ................................................................................................9

Display of operating states via 7-segment display ......................................13

Display of operating statuses via 7-segment display ...................................17

Distributed clocks ......................................................................................39

CANopen functionality of MSD Servo Drive .................................................7

CiA402 .....................................................................................................45

CiA402 compatible operation modes ........................................................49

Commissioning ...................................................................................19, 23

Commissioning instructions ......................................................................21

Commissioning, sequence .........................................................................19

Commissioning via Moog

Communication objects ............................................................................25

Conﬁguration ...........................................................................................19

Conﬁguration for the operation in a drive .................................................40

Conﬁguration of EtherCAT ........................................................................23

Conﬁguring MSD Servo Drive ....................................................................49

Connecting cables ....................................................................................16

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..............................................20

EDS ﬁle .....................................................................................................69

Emergency ................................................................................................38

Emergency objects ....................................................................................63

Emergency telegram .................................................................................63

EoE .......................................................................................................38

Error acknowledgement ............................................................................63

Error acknowledgement, general ..............................................................63

Error acknowledgement via bus system .....................................................63

EtherCAT connection ................................................................................15

EtherCAT option .......................................................................................15

EtherCAT state machine ............................................................................39

EtherCAT structure ....................................................................................37

Event-controlled TxPDO transmission ........................................................32

Example ....................................................................................................32

Example of an SDO data transfer in Expedited mode .................................26

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MSD Servo Drive User Manual CANopen/EtherCAT

Example of application of the screens .......................................................33

Example of read access .............................................................................29

Example of the ﬂash sequence ............................................................13, 18

Example of use of the DIP switches ...........................................................10

Examples of SDO handling ........................................................................28

Factor group .............................................................................................45

First commissioning ...................................................................................20

Function ...................................................................................................10

Functionality of operation modes ..............................................................20

Function of event control ..........................................................................32

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

General information ..................................................................................41

General Introduction ...................................................................................7

Glossary ....................................................................................................73

Hardware enable ................................................................................13, 18

Heartbeat function ....................................................................................34

Heartbeat protocol ....................................................................................34

Homing function .......................................................................................54

Homing mode ...........................................................................................54

Homing mode bits in the control word ......................................................55

Homing mode bits in the status word .......................................................55

How to use this manual ..............................................................................3

IN and OUT socket ....................................................................................15

Input/output .............................................................................................15

Installation and cabling .............................................................................15

Introduction to CANopen ............................................................................7

Introduction to EtherCAT ............................................................................8

I/O map ....................................................................................................47

LED meaning ............................................................................................17

Mailbox ....................................................................................................38

Mapping – general ....................................................................................33

Mapping notes .........................................................................................33

Meanings of LEDs ...............................................................................10, 16

Measures for your safety .............................................................................7

Mode-dependent bits in the control word .................................................53

Mode-dependent bits in the status word ...................................................53

Modes of operation ..................................................................................20

Mode-speciﬁc bits in the control word ....................................50, 52, 54, 56

Mode-speciﬁc bits in the status word ..................................................55, 56

Mounting and Connection of CANopen ......................................................9

Mounting and Connection of EtherCAT ....................................................15

NMT (Network Management) ...................................................................39

Id no.: CA65647-001 ..................................................................................2

Implemented CiA301 functionality ............................................................25

Implemented CiA402 functionality ............................................................41

Object 60FDh – digital inputs ....................................................................47

Object directory ..................................................................................25, 69

Object directory of CiA301 .......................................................................25

Operation modes ......................................................................................20

Operation modes CiA402 .........................................................................49

Operation mode selection .........................................................................20

Option codes ............................................................................................44

Parameter channel ....................................................................................26

Parameter list ............................................................................................69

Parameter set download ...........................................................................31

Parameters on the Bus Systems function screen ........................................21

PDO mapping ...........................................................................................33

PDO transmission types .............................................................................32

Pictograms ..................................................................................................4

Pin assignment of the RJ45 socket ............................................................16

Position of CAN connection on MSD Servo Drive .........................................9

Procedure for commissioning ....................................................................20

Process data ..............................................................................................37

Proﬁle position mode ................................................................................55

Proﬁle position mode bits in the control word ...........................................56

Proﬁle position mode bits in the status word .............................................56

Proﬁle velocity mode .................................................................................52

Protocol deﬁnitions ...................................................................................73

Quick stop ................................................................................................51

Representation of data types in the control protocol .................................27

Restoring factory defaults .........................................................................22

Service Data Objects .................................................................................26

SET OF SETPOINTS ....................................................................................57

Setpoint transmission from a host computer .............................................57

Setting the address .....................................................................................9

Setting the Device Parameters for CANopen .............................................25

Setting the Device Parameters for EtherCAT ..............................................37

Setting the software address and baud rate ..............................................21

Setup of the EtherCAT network ................................................................15

SINGLE SETPOINT ......................................................................................57

State machine .....................................................................................41, 42

Status transitions ......................................................................................39

Status word bits ........................................................................................51

Status word CiA402 ..................................................................................51

Structure of operation mode .....................................................................53

Structure of proﬁle position mode .............................................................56

Structure of proﬁle velocity mode ..............................................................53

Supported EtherCAT functionality .............................................................37

System requirements ...................................................................................8

Testing the higher-order drive ....................................................................22

Three possible methods of address allocation ..............................................9

Transmission of transferred values .............................................................30

Transmission rate ......................................................................................12

Transmission speeds ..................................................................................12

Units and scalings .....................................................................................45

Safety instructions .......................................................................................7

Saving the settings ....................................................................................22

SDO Information Service ...........................................................................38

Selecting events ........................................................................................32

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Voltage enabled ........................................................................................51

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Where can I ﬁnd the device parameters? ...................................................27

XML ﬁle ....................................................................................................39

Your qualiﬁcation ........................................................................................7

MSD Servo Drive User Manual CANopen/EtherCAT

TAKE A CLOSE LOOK.

Moog solutions are only a click away. Visit our worldwide Web site for more information 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 drives-support@moog.com

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 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.

ID no.: CA65647-001 Rev. 1.0, 03/2012

Moog MSD Servo Drive single axis system, MSD Servo Drive Compact, MSD Servo Drive multi axis system User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 General Introduction

1.1 Measures for your safety

1.2 Introduction to CANopen

1.3 Introduction to EtherCAT

1.4 System requirements

1.5 Further documentation

2.1 Setting the address

2.2 Meanings of LEDs

2.3 Installation

2.4 Transmission speeds

2.5 Display of operating states via 7-segment display

2.6 Hardware enable

3.1 Installation and cabling

3.2 Pin assignment of the RJ45 socket

3.3 Meanings of LEDs

3.4 Display of operating statuses via 7-segment display

3.5 Hardware enable

4.1.1 Commissioning

4.1.2 Commissioning sequence

4.1.5 Functionality of operation modes

4.1.4 Operation mode selection (modes of operation)

4.1.6 Setting the timing parameters

4.2.1 Setting the software address and baud rate

4.2.2 Commissioning instructions

4.2.3 Testing the higher-order drive

4.2.4 Data handling

4.2.5 Control functions

5.1 Implemented CiA301 functionality

5.1.2 Object directory of CiA301

5.1.1 Communication objects

5.2 Parameter channel (Service Data Objects)

5.2.1 Data types

5.2.2 Representation of data types in the control protocol

5.2.3 Access to device parameters

5.3 Examples of SDO handling

5.3.1 Parameter set download

5.4 PDO transmission types

5.5 Event-controlled TxPDO transmission

5.6 PDO mapping

5.6.2 Mapping notes

5.6 .1 Mapping – general

5.7 Heartbeat function

5.8 Monitoring of telegram failure

6.1 Supported EtherCAT functionality

7.1 Device control and state machine

7.1.1 General information

7.1.2 State machine

7.1.3 Device states

7.2 Option codes

7.3 Device control objects

7.4 Units and scalings, factor group

7.5 I/O map

7.5 .1 Object 60FDh – digital inputs

7.5 .2 Object 2079h – MPRO_INPUT_STATE

7.5 .3 Object 208Fh – MRPO_OUTPUT_STATE

7.5.5 Object 60FE, digital outputs:

8 Operation modes CiA402

8.1 CiA402 compatible operation modes

8.1. 2 Control word CiA402

8.1.3 Status word CiA402

8.2.2 Homing mode

8.2.4 Velocity mode (V/F mode)

8. 3.1 Interpolated position mode

8.3.2 Cyclic Synchronous Position mode (EtherCAT only)

8.3.3 Cyclic Synchronous Velocity mode (EtherCAT only)

8.3.4 Cyclic Synchronous Torque mode (EtherCAT only)

8.3.5 External pre-control of speed/torque

9 Emergency objects

9.1 Error acknowledgement, general

9.2 Error acknowledgement via bus system

10 Technology functions

10.1 Touch probe

10 .1. 2 Control-led homing

10.2 Indexing table function

12 Bibliography