Moog MSD Servo Drive single axis system User manual

moog
MSD Servo Drive
User Manual
Single Axis System
Multi Axis System
Compact

moog 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].
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

moog MSD Servo Drive User Manual CANopen/EtherCAT 3
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 appro-
priate 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.
11 General introduction
44
Mounting and Connection of EtherCAT
55
66
Setting the Device Parameters for CANopen
33
22 Mounting and connection of CANopen
77 Implemented CiA402 functionality
Commissioning and Configuration CANop.
Setting the Device Parameters for EtherCAT
Operation modes CiA402 88
Emergency objects 99
Technology functions 1010
EDS file, object directory, parameter list 1111
Bibliography 1212
Appendix: Glossary 1313

moog MSD Servo Drive User Manual CANopen/EtherCAT 4
Pictograms
!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.

MSD Servo Drive User Manual CANopen/EtherCAT 5
moog
Table of Contents
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 DriveADministrAtor ................................................20
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
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 (Service 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

moog MSD Servo Drive User Manual CANopen/EtherCAT 6
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

moog MSD Servo Drive User Manual CANopen/EtherCAT 7
[Section 1 ]
1 General Introduction
1.1 Measures for your safety
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!
1.
• 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
V
N
L+
RB
L-
L3
L2
L1
U
V
N
L+
RB
L-
L3
L2
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 (electrostatic discharge
may destroy components).
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 capabil-
ity, 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.
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 con-
tents 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 commission-
ing.

moog MSD Servo Drive User Manual CANopen/EtherCAT 8
1.3 Introduction to EtherCAT
As far as real-time Ethernet systems are concerned, EtherCAT has become well estab-
lished 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 stand-
ard patch or crossover cables and is therefore easily adapted to the machine infrastruc-
ture.
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 mini-
mal 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
driver.
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 communica-
tion very flexibly and adapt it to the specific needs of the user.
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
•EtherCAT Communication Specification Version 1.0 2004
•EtherCAT Indicator Specification Proposal V0.91 2005
•IEC 61158-2-12 to IEC 61158-6-12

moog MSD Servo Drive User Manual CANopen/EtherCAT 9
[Section 2 ]
2 Mounting and Connection
of CANopen
ATTENTION: Do NOT insert or remove the CANopen connector during
operation.
2.1 Setting the address
Step Action Note
1.
Find out which address is assigned to the
device you are installing. Ask your project engineer.
2.
Select the mode of addressing:
• by bus address parameter
• by DIP switch (S4)
• by bus address parameter and DIP
switch (S4)
See below
Address setting finished; for further procedure see Installation.
!
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 = hard-
ware 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.
Fig. 2.1
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattention to the
operationmanual!
56
X
3
X
1
X
2
X
4
X
5
X
10
X
9
X
6
X
7
X
8
X
11
L1
L2
L3
J-
J+
J-
J+
J-
J+
J-
J+
X
15
X
16
H
1
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
Position of CAN connection on MSD Servo Drive

moog MSD Servo Drive User Manual CANopen/EtherCAT 10
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 21= 2
DIP switch 3 significance 22= 4
...
DIP switch 7 significance 26= 64
DIP switch 8 = bus termination ON/OFF
Fig. 2.2
12345678
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
- 20+ 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
WARNING
Kondensatorenent-
ladezeit > 3 min.
Betriebsanleitung
beachten!
Capacitor discharge
time > 3 min.
Pay attention to the
operation manual!
12345678
X
32
S
4
H
14
H
15
Fig. 2.3 Device with CANopen Option
!

moog MSD Servo Drive User Manual CANopen/EtherCAT 11
[Section 2 ]
The LEDs have the following function:
LED Function Meaning
H14 (yellow LED) CANopen
network status
The LED displays the current network status.
• NMT STOPPED
flashing with 800 ms cycle
• NMT PRE-OPERATIONAL
flashing with 1600 ms cycle
• NMT OPERATIONAL
permanently lit.
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
1.
Make sure the hardware enable is wired on
MSD Servo Drive (X4).
• See Operation
Manual
2.
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 Specification of
CAN bus connection
table and Assignment
of connection X19 table
3.
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.
Fig. 2.4
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit>3min.
Betriebsanleitung
beachten!
Capacitordischarge
time>3min.
Payattentionto the
operationmanual!
56
X
3
X
1
X
2
X
4
X
5
X
10
X
9
X
6
X
7
X
8
X
11
12345678
X
32
S
4
H
14
H
15
L1
L2
L3
J-
J+
J-
J+
J-
J+
J-
J+
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit>3min.
Betriebsanleitung
beachten!
Capacitordischarge
time>3min.
Payattentionto the
operationmanual!
56
X
3
X
1
X
2
X
4
X
5
X
10
X
9
X
6
X
7
X
8
X
11
12345678
X
32
S
4
H
14
H
15
L1
L2
L3
J-
J+
J-
J+
J-
J+
J-
J+
L-
L1 L+
N
24 VDC
CAN-Bus
11 12 13 14 15 16 17 18 19 20
12345678910
11 12 13 14 15 16 17 18 19 20
12345678910
SPS/PLC
System connection
Connection Spring-type terminal
Wave terminating resistor
- Bus termination -
• 120 W(internal)
• Activation of the bus termination in the device via
switch 8 on the CAN option
Max. input frequency 1 MHz
Ext. voltage supply +24 V +25%, 50 mA
(isolated from servo drive)
Voltage ripple Max. 3 Vss
Power consumption Max. 50 mA per user
Cable type 4-wire, surge impedance 120 W
Table 2.2 Specification of CAN bus connection

moog MSD Servo Drive User Manual CANopen/EtherCAT 12
Terminal X32 PIN PIN Function Description
10 5CAN_+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 Maximum line length
over the entire network1)
1000 kBaud 25 m • Factory setting
500 kBaud 100 m
250 kBaud 2) 250 m
125 kBaud 2) 500 m
50 kBaud 3) 1000 m
20 kBaud 3) 2500 m
1) Rounded bus length estimation (worst case) on basis 5 ns/m propagation delay and a total effective device internal in-out
delay as follows:
1M–800 kbit/s: 210 ns
500–250 kbit/s: 300 ns (includes 2 * 40 ns for optocouplers)
125 kbit/s: 450 ns (includes 2 * 100 ns for optocouplers)
50–10 kbit/s: Effective delay = delay recessive to dominant plus dominant to recessive divided by two.
2) For a bus length greater than about 200 m, the use of optocouplers is recommended. If optocouplers are placed between
the CAN Controller and the transceiver this affects the maximum bus length depending upon the propagation delay of the
optocouplers, i.e. -4 m per 10 ns propagation delay of employed optocoupler type.
3) For a bus length greater than about 1 km, bridge or repeater devices may be needed.
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.

moog MSD Servo Drive User Manual CANopen/EtherCAT 13
[Section 2 ]
2.5 Display of operating states via 7-segment
display
D1 D2 Meaning Parameter
System statuses
8. 8.
Device in reset status
0.
Auto-initialisation on device startup (Start)
S.*) 1.
1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn)
S.*) 2.
1) Starting lockout (DC link is OK, power stage not
ready) (SwitchOnDisabled)
3.
Ready to switch on (power stage is ready) (ReadyToSwitchOn)
4.
On (power is connected to the device) 2) (SwitchedOn)
5.
Drive ready (current applied to drive and drive ready
for input of setpoint) 2) (OperationEnable)
6.
Quick stop 2) (QuickStopActive)
7.
Fault response active 2) (FaultReactionActive)
E R
Fault (see below) (Fault)
The following appear alternately in the event of error
ER.
Display for errors or non-acknowledgeable errors
X X
Error number (decimal)
Y Y
Error localisation (decimal)
1) S. flashes if the STO (Safe Torque Off) function is active; the display is not lit if the function is not active.
*) This is not a "safe display" under the terms of EN 61800-5-2.
2) The point flashes if the power stage is active.
Example of the flash sequence:
 ER > 02 > 05 * ER > 02 > 05 ...
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 MSD Servo Drive User Manual CANopen/EtherCAT 14

moog MSD Servo Drive User Manual CANopen/EtherCAT 15
[Section 3 ]
3 Mounting and Connection
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 gener-
ally 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.
Fig. 3.1
IPC
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattention to the
operationmanual!
56
X3
X1
X2
X4
X5
12345678
X
19
S4
X
15
X
16
H
1
X
4
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattention to the
operationmanual!
56
X3
X1
X2
X4
X5
12345678
X
19
S4
X
15
X
16
H
1
X
4
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattention to the
operationmanual!
56
X3
X1
X2
X4
X5
12345678
X
19
S4
X
15
X
16
H
1
X
4
EtherCAT connection
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.
Fig. 3.2
Type:
In:
Out:
35633Lahnau
www.lust-tec.de
MadeinGermany
US
C
LISTED
Ind.Cont.Eq.
19BB
SN.:
SOA84.006.0000.0000.0
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
REL
REL
ISDSH
ISD06
ISD05
ISD04
ISD03
ISD02
ISD01
ISD00
+24V
DGND
RSH
RSH
ENPO
OSD02
OSD01
OSD00
ISA1-
ISA1+
ISA0-
ISA0+
+24V
DGND
ACHTUNG
WARNING
Kondensatorenent-
ladezeit> 3 min.
Betriebsanleitung
beachten!
Capacitordischarge
time> 3 min.
Payattention to the
operationmanual!
56
X
3
X
1
X
2
X
4
X
5
X
10
X
9
X
6
X
7
X
8
X
11
L1
L2
L3
J-
J+
J-
J+
J-
J+
J-
J+
X
15
X
16
H
1
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
EtherCAT option
Upper RJ45 port = input
Lower RJ45 port = output

moog 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
1White/orange 2TxData +
2Orange 2TxData -
3White/green 3 RecvData +
4Blue 1Unused
5White/blue 1Unused
6Green 3 RecvData -
7White/brown 4Unused
8Brown 4Unused
Table 3.1 Meaning of LEDs without additional status/error LED
Fig. 3.3
1234 5678
24
1
3
Pair #
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.
Fig. 3.4
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
Device with EtherCAT option

moog MSD Servo Drive User Manual CANopen/EtherCAT 17
[Section 3 ]
The two LEDs on the RJ45 socket mean the following:
LED Function Meaning
Upper LED Link/activity
Off = no link
No connection with another user
On = link
Connection with another user exists, no data exchange
Flashing = activity
Data exchange active
Lower
LED
RUN
(only active on
the lower port
if another user is
connected here)
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 pre-
sent 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
Upper LED Link/activity
Off = no link
No connection with another user
On = link
Connection with another user exists, no data exchange
Lower LED Link (PHY) On = link
Off = no link
Table 3.3 Meaning of LEDs with additional status/error LED
LED Function Meaning
Status LED
(RUN/
error)
Status/error
Red = error
Off = no error
Flashing = invalid configuration
Single flash = local error
Double flash = watchdog timeout
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.
Device in reset status
0.
Auto-initialisation on device startup (Start)
S.*) 1.
1) Not ready to switch on (no DC link voltage) (NotReadyToSwitchOn)
S.*) 2.
1) Starting lockout (DC link is OK, power stage not
ready) (SwitchOnDisabled)
3.
Ready to switch on (power stage is ready) (ReadyToSwitchOn)

moog MSD Servo Drive User Manual CANopen/EtherCAT 18
D1 D2 Meaning Parameter
4.
On (power is connected to the device)2) (SwitchedOn)
5.
Drive ready (current applied to drive and drive ready
for input of setpoint) 2) (OperationEnable)
6.
Quick stop 2) (QuickStopActive)
7.
Fault response active 2) (FaultReactionActive)
E R
Fault (see below) (Fault)
The following appear alternately in the event of error
ER.
Display for errors or non-acknowledgeable errors
X Y
Error number (decimal)
X Y
Error localisation (decimal)
1) S. flashes if the STO (Safe Torque Off) function is active; the display is not lit if the function is not active.
*) This is not a "safe display" under the terms of EN 61800-5-2.
2) The point flashes if the power stage is active.
Example of the flash sequence:
 ER > 02 > 05 * ER > 02 > 05 ...
Error: ER = "Fault"
Error name: 02 = "Error in the parameter list"
Description of error: 05 = "Function for checking current parameter list"
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.

moog MSD Servo Drive User Manual CANopen/EtherCAT 19
[Section 4 ]
4 Commissioning and Configu-
ration of CANopen
4.1 General commissioning of CANopen/Ether-
CAT
4.1.1 Commissioning
The Moog DriveADministrAtor user interface is used for general commissioning of the
drive system. The Moog DriveADministrAtor includes tools to identify motor data, provides
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.
Step Action Note
1.
Check the wiring. Make sure the ENPO
hardware enable (X4) is not connected.
2.
Switch on the mains power and the 24 V
supply to the CAN interface.
3.
Configure the drive device using the
application manual.
(Inputs/outputs, software functions
etc.)
4.
Test the control quality and optimise
the drive settings as necessary using the
operation manual.
5.
Set the parameters for the CAN com-
munication. 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.
Software and hardware address
are added...
6.
Test the drive on the higher-order drive –
see section 3.4.
7.
Finally, save the setting. Save device setting 
Non-volatile in device
NOTE: For more information on the subject of "Units and scalings", please
refer to section 7.4.

moog MSD Servo Drive User Manual CANopen/EtherCAT 20
4.1.3 Commissioning via Moog DriveADministrAtor
Procedure for commissioning with the aid of the application manual
1.
First commissioning based on operation manual
A precondition for this is first commissioning with the aid of the opera-
tion manual.
The user manual only covers adjustment of the software functions.
2.
Commissioning as per application manual
Setting the servo drive parameters using the application manual.
This includes, for example, the configuration of technology functions.
3.
Commissioning based on CANopen user manual
Configuration of fieldbus-specific settings (e.g. baud rate) using this
document.
4.
Checking the set application solution
To preserve the safety of personnel and machinery, 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.
5.
Completing commissioning
When you have successfully completed commissioning, save your
settings (using Moog Drive ADministrAtor) and store the data set in the
device.
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
–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
Fig. 4.1
modes_of_operation
(6060h)
modes_of_operation_display
(6061h)
Operation
Mode
Function
Profile Position Mode
Profile Velocity Mode
Homing Mode
Changing functionality of operation modes in the display
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.