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
