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MSD Servo Drive User Manual PROFIBUS/PROFINET
ID no.: CA65645-001 Date: 01/2015
moog
Table of contents
1 General .................................................................................... 7
1.1 Measures for your safety.....................................................................................7
1.2 Introduction........................................................................................................7
1.3 System requirements...........................................................................................7
1.4 Further documentation .......................................................................................7
1.5 Helpline/Support & Service..................................................................................8
2 Commissioning......................................................................... 9
2.1 PROFIBUS ...........................................................................................................9
2.1.1 Connections and user controls.............................................................9
2.1.2 Pin assignment of the D-Sub socket .....................................................9
2.1.3 Specification of the PROFIBUS cable ....................................................10
2.1.4 Bus termination ...................................................................................10
2.1.5 PROFIBUS address setting ....................................................................11
2.1.6 PROFIBUS option card displays.............................................................11
2.1.7 GSD file (PROFIBUS) .............................................................................12
2.2 PROFINET............................................................................................................13
2.2.1 Connections ........................................................................................13
2.2.2 Pin assignment of the RJ45 socket .......................................................13
2.2.3 Specification of the PROFINET cable ....................................................14
2.2.4 Meanings of LEDs ................................................................................14
2.2.5 PROFINET option card displays.............................................................15
2.2.6 GSDML file (PROFINET) ........................................................................15
3 Cyclic data transfer ................................................................. 17
3.1 Parameter process data objects (PPOs) ................................................................17
3.1.1 Standard "PROFIdrive" telegrams.........................................................17
3.1.2 User-specific PPOs................................................................................19
3.1.3 Parameter channel PKW ......................................................................23
3.2 Monitoring..........................................................................................................24
3.2.1 Watchdog............................................................................................24
3.2.2 Sign of Life...........................................................................................24
4 Acyclic data transfer ............................................................... 27
4.1 PROFIBUS parameter access ................................................................................27
4.2 PROFINET parameter access ................................................................................29
4.3 "Base Mode Parameter Access" data format.......................................................29
4.4 Examples of request and response telegrams ......................................................32
5 Profidrive operation modes ..................................................... 35
5.1 Profinet operation modes....................................................................................35
5.1.1 Speed control circuit and associated control parameters......................36
5.2 Drive state machine.............................................................................................37
5.3 Jog mode............................................................................................................38
5.3.1 Jog mode manufacturer-specific ..........................................................38
5.3.2 Jog mode conforming to profile...........................................................38
5.3.3 Jog mode reference parameters ..........................................................39
5.4 Speed control (application class 1).......................................................................39
5.4.1 Master control word ............................................................................40
5.4.2 Drive status word.................................................................................41
5.5 Position control (application class 3)....................................................................42
5.5.1 Position control circuit and associated control parameters ...................44
