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

MSD Servo Drive

User Manual

moog

Single Axis System

Multi Axis System

Compact

moog

This document details the functionality of the following equipment

MSD Servo Drive single axis system

MSD Servo Drive multi axis system

MSD Servo Drive Compact

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 [e-mail].

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

11

22

33

44

55

66

77

88

99

1010

1111

1212

1313

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MSD Servo Drive User Manual CANopen/EtherCAT

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Pictograms

MSD Servo Drive User Manual CANopen/EtherCAT

4

!

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

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MSD Servo Drive User Manual CANopen/EtherCAT

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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.

1.1 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.

U

U

V

V

N

N

L+

L+

RB

RB

L-

L-

L3

L3

L2

L2

L1

L1

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

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MSD Servo Drive User Manual CANopen/EtherCAT

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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

1.

2.

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

X

15

X

16

H

1

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.

L3

L2

L1

11

X

J+

J-

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10

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ISD06
ISD05

ISD04

ISD03
ISD02
ISD01
ISD00
+24 V
DGND

ACHTUNG

Kondensatorenent-

Betriebsanleitung

WARNING

Capacitor discharge

Pay attention to the

operation manual!

X

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12

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Position of CAN connection on MSD Servo Drive

MSD Servo Drive User Manual CANopen/EtherCAT

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[ Section 2 ]

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MSD Servo Drive User Manual CANopen/EtherCAT

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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

1

= 2

2

= 4

...

DIP switch 7  significance 2

6

= 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

0

-  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).

14

H

15

H

4

S

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!

32

X

The LEDs have the following function:

1.

2.

3.

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

N

L1

L-

CAN-Bus

L+

SPS/PLC

X

5

6

1

X

2

X

3

X

REL

24

REL

1

2

R

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S
H

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D

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IS

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6

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IS
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0-

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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

11

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MSD Servo Drive User Manual CANopen/EtherCAT

12

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

powered by the device.

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.

2)

2)

3)

3)

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

1)

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

8.

8.

0.

S.*) 1.

S.*) 2.

3.

4.

5.

6.

7.

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)

2)

2)

2)

2)

(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

13

moog

MSD Servo Drive User Manual CANopen/EtherCAT

14

3 Mounting and Connection

ACHTUNG

WARNING

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

X

15

X

16

H

1

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

56

1

X

2

X

3

X

4

X

5

X

4

1

H

15

12345678

4

S

19

X

16

1

X

2

X

3

X

4

X

REL

RSH

24

12

23

11

RSH

REL

22

10

ENPO

ISDSH

21

9

OSD02

ISD06

20

8

ISD05

OSD01

19

7

OSD00

ISD04

18

6

ISA1-

ISD03

17

5

ISA1+

ISD02

16

4

ISA0-

ISD01

15

3

ISD00

ISA0+

14

2

+24 V

+24 V

13

1

DGND

DGND

5

X

4

X

1

H

15

12345678

X

4

S

19

ACHTUNG

X

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

16

X

Fig. 3.1

EtherCAT connection

56

REL

RSH

24

12

23

11

RSH

REL

22

10

ENPO

ISDSH

21

9

OSD02

ISD06

20

8

ISD05

OSD01

19

7

OSD00

ISD04

18

6

ISA1-

ISD03

17

5

ISA1+

ISD02

16

4

ISA0-

ISD01

15

3

ISD00

ISA0+

14

2

+24 V

+24 V

13

1

DGND

DGND

X

X

ACHTUNG

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

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

X

56

1

X

2

X

3

X

4

X

REL

RSH

24

12

23

11

RSH

REL

22

10

ENPO

ISDSH

21

9

OSD02

ISD06

20

8

ISD05

OSD01

19

7

OSD00

ISD04

18

6

ISA1-

ISD03

17

5

ISA1+

ISD02

16

4

ISA0-

ISD01

15

3

ISD00

ISA0+

14

2

+24 V

+24 V

13

1

DGND

DGND

5

X

4

X

1

H

15

12345678

X

4

S

19

ACHTUNG

X

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

time > 3 min.

Pay attention to the

operation manual!

16

X

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.

L3

L2

L1

11

X

J+

J-

J+

J-

J+

J-

J+

J-

10

X

X

9

5

6

1

X

2

X

3

X

REL

24

REL

12

RSH

23

ISDSH

11

RSH

22

ISD06

10

4

X

ENPO

21

ISD05

9

OSD02

20

ISD04

8

OSD01

19

ISD03

7

OSD00

18

ISD02

6

17

ISA1-

ISD01

5

ISA1+

16

ISD00

4

15

ISA0-

+24 V

3

14

ISA0+

DGND

2

13

+24 V

1

DGND

5

X

1

H

15

X

ACHTUNG

Kondensatorenent-

ladezeit > 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

Pay attention to the

time > 3 min.

operation manual!

16

X

Fig. 3.2

Upper RJ45 port = input

Lower RJ45 port = output

X

8

X

7

X

6

EtherCAT option

356

33 Lah

www.l

Type:

Made

u

nau
s
t

SOA84.00

-

te

i

n

c

German

.
d
e

In:

C

y

6.0

000.00

US

LISTED

Out:

Ind. Co

00.0

19BB

nt. Eq.

SN.:

moog

MSD Servo Drive User Manual CANopen/EtherCAT

15

[ Section 3 ]

moog

Pair #

MSD Servo Drive User Manual CANopen/EtherCAT

16

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

3

4

1

2

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.

1

H

15

X

ACHTUNG

Kondensatorenent-

ladezeit> 3 min.

Betriebsanleitung

beachten!

WARNING

Capacitor discharge

Payattention to the

time > 3 min.

operationmanual!

16

X

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

8.

8.

0.

S.*) 1.

S.*) 2.

3.

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)

moog

[ Section 3 ]

MSD Servo Drive User Manual CANopen/EtherCAT

17

moog

MSD Servo Drive User Manual CANopen/EtherCAT

18

D1 D2 Meaning Parameter

4.

5.

6.

7.

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)

2)

2)

2)

2)

(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.

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.

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

Drive ADmin istrAtor

1.

2.

3.

4.

5.

6.

7.

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

19

moog

DriveADministrAtor

1.

2.

3.

4.

5.

Drive ADminis trAtor

MSD Servo Drive User Manual CANopen/EtherCAT

20

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

s

-

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

moog

[ Section 4 ]

MSD Servo Drive User Manual CANopen/EtherCAT

21

moog

Drive ADmin istrAtor

Drive ADmin istrAtor

Drive ADmin istrAtor

Drive ADmin istrAtor

MSD Servo Drive User Manual CANopen/EtherCAT

22

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.

moog

[ Section 4 ]

MSD Servo Drive User Manual CANopen/EtherCAT

23

moog

MSD Servo Drive User Manual CANopen/EtherCAT

24