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0.2HardwaresystemintroductionPacDriveTMCommProgrammingConfigurationMotionDiagnosisHardware0.2HardwaresystemintroductiPacDriveMArchitectureIT/HMIMotionLogicEthernet,TCP/IP,OPC,ftp,http,SMS,SMTPProfibusDP,Ethernet/IP,CANSERCOSIISMSMI/OStepperInverterMotion

LogicControls:C200A2,C200A8,C400A8,C400A16,C600A99I/OMC-4Safe

LogicEmbeddedorPC-HMIDB-5iSHiSHMC-4PS-5SHMC-4PacDriveMArchitectureIT/HMIPacDriveM–ControllersControllerC600ControllerC200

ControllerPerformanceOptionsforallControllersProfibusCanOpenDevicenetModBusEthernetIPControllerC4002/4/8Axes8/16Axes99AxesPacDriveControllerbasedonVxWorksreal-timeOS.PLCandMotionFunctionPacDriveM–ControllersConPacDriveC600PacDriveC600PacDriveLEDStatus&itsKeypadKeypad-threebuttonshavenofunctionTwoswitchesunderneaththeKeyPadON/OFF -switchesthecontrolleronoroffReset -rebootthecontrollerPOW -Controlpoweron/offindicatorwd -Watchdogindicatorerr -Errorindicatorbuserr -SERCOSreal-timebuserrorindicatorLEDstatusPacDriveLEDStatus&itsKeypPacDriveLEDStatusNotePacDriveLEDStatusNoteTheBatteryThebatterystorescontrollerdata(Bios,NVRAM,time,etc.)Itshouldbereplacedevery6yearsThediagnosticmessage‘037Batterydown’-showsbatteryislowBatterycanbechangedon/offlineThebuffereddatacanonlybeheldfor5min.withcontrolleroffUseonlyBattery3VLithiumRenata2450N

UseinsulatedplierstopullthebatteryoutTheBatteryThebatterystoresFlashCard&EthernetLEDCompactFlashTMcardisforthepermanentdatastorage(CFcard)ofthecontroller.YoumustturnoffthecontrollertoreplacethecardFlashCardslotFlashCard&EthernetLEDCompaX1ConnectionX1-ControlvoltageandWatchdogconnectionX1ConnectionX1-ControlvoltX2ConnectionX2-DigitalOutputsconnectionX2ConnectionX2-DigitalOutpX3ConnectionDigitalinput:1or5mscanbeparameterizedX3-DigitalInputsconnectionX3ConnectionDigitalinput:1X4ConnectionFastinput:0.1or1mscanbeparameterizedTouchprobe:100µsresolutionX4-Touchprobe(TP)andFastinputsconnectionsX4ConnectionFastinput:0.1X5ConnectionX5-AnalogI/OconnectionX5ConnectionX5-AnalogI/OcX5Connection-continuousAnaloginputconnectionexample1.Voltageorcurrentmeasurementconnectsonpin1/pin3andpin10/pin122.Jumperpin2orpin11forcurrentmeasurementasshowninthediagramX5Connection-continuousAnalX11ConnectionX11-Masterencoder(SinCos)X11-Masterencoder(incremental)X11ConnectionX11-MasterencX17,X18ConnectionX17-Com1(RS232)X18-Com2(RS485)X17,X18ConnectionX17-Com1X19,X20ConnectionX19-CANX20-ProfibusdbX19,X20ConnectionX19-CANX2Motor

Controller(MC-4)ConnectorsVoltage24VX1Incomingpower230V/400V

X2DCbus

X3MotorX4

InputFiberopticsconnectorX5DiagnosticsX7Encoder

X8ShieldLWLinternal

S3OutputFiberopticsconnectorX6MotorController(MC-4)ConnecMC-4LEDStatusIfPLCdoesnothaveMC-4configuredintheSERCOSlink,buserrwillblinkfastPOW-Controlpoweron/offindicatorerr-errorindicatorbuserr-SERCOSbuserrorindicatorMC-4LEDStatusIfPLCdoesno1.5A-10A,X1ConnectionX1-ControlvoltageInputcurrentof24Vshouldbe<=8ANomorethansix(6)wiresshouldbeinsertedintoaterminal1.5A-10A,X1ConnectionX1-1.5A-10A,X2ConnectionX2-MainsconnectionInputcurrentshouldbe<=24Athe5AMC-4canhave1-phase,or3-phaseat220~240V;with1-phaseconnectsLtoL1andNtoL2,leavesL3open1.5A-10A,X2ConnectionX2-1.5A-10A,X3&X4ConnectionX3-DCbusconnectionTheterminalcurrentshouldbe<=24AX4-MotorpowerconnectionTheterminalcurrentshouldbe<=24A1.5A-10A,X3&X4Connection22A,50A,X1ConnectionX1-Controlvoltage22A,50A,X1ConnectionX1-Co22A,X2,X3,&X4ConnectionX2-MainsconnectionX3-DCbuscircuitX4-Motorconnection22A,X2,X3,&X4ConnectionX250A,X2,X3,X4ConnectionX2-MainsconnectionX3-DCbuscircuitX4-Motorconnection50A,X2,X3,X4ConnectionX2-All,X7,X8ConnectionX7-DiagnosisconnectionX8-Motorencoder(SinCos)All,X7,X8ConnectionX7-DiPartsLegend

MC-4/11/03/400NominalCurrent03=3A05=5A(single230V~)10=10A22=22A50=50AVoltage230=230V

(singlephase5AMC-4)400=400V

(3phase)SeriesPEL1NPE

L1L2L3PLCConfiguration

PhaseCheckon/TRUE off/FALSEPartsLegend

MC-4/11/0Motor

ControllerMC4NominalCurrent50AMC-4/11/50 NominalCurrent22AMC-4/11/22 NominalCurrent3A,10A,5A(single230V~),

MC-4/11/10(/05&/03) capacityMotorControllerMC4NominalCL‘Encoder

SinCos®NoteResolutionof1024periodsperrevolutionElectronicnameplate(EEPROM)OnMulti-turnencoder(absoluteencoder)Countsupto4096revolutionsL‘EncoderSinCos®NoteResolutSMMotorsEncoderCodediscofGreyCodeSMMotorsEncoderCodediscofSMMotorsPTCPTCsembeddedinthewindings;thisiswhenMotorOvertempcomesfromSMMotorsPTCPTCsembeddedinTemperaturecontrol

Three(3)Temperaturesensors

Oneisbeneathheatsink

Oneisbeneathbleederresistors

OneisontheControllerboard

3Temperaturethresholds

Threshold1:switchingonfan

Threshold2:TemperaturewarningDiagCode

:6126

Threshold3:TemperaturefailureDiagCode

:2101Motor

ControllerMC4-TempControlTemperaturecontrolMotorContrPacDriveiSH-refertoslide2sizingofthesystemdependingonnumberofmotors/holdingbreakscablelengthapplicationdrivesizingwithECAM(V3.00)orLexiumSizerSystemiSHPacDriveiSH-refertoslidePacNet-ControllerextensionDI01InputandOutput

extension

-16input(normalorTP)-16OutputCommunication<1msInOutENC1

Encoderextension-2EncoderInputs-1Programmable(In/Out)PacNet-ControllerextensionSERCOSQuickOverviewSercos–SerialDataLinkforRealTimeSERCOSQuickOverviewSercos–AtraditionaldistributeddrivecontrolsystemAcentralizedIPC/PLC-basedsystemusingRealTimeProtocols1.Realtimeprotocols:EtherCat,SERCOS,ProfiNet,etc2.Controllercanstilldolowlevelrequirementlikecurrentcontrol,andvelocityobservation3.PLCisalleviatedtodohighlevelrequirementlikeVelocity,andPositioncontrolRealTimeProtocolsDistributedvs.CentralizedcontrolsystemAtraditionaldistributeddrivSERCOS

•

Wiringsimplification•Noiseelimination•Precisevelocityandprecisioncommandsat32-bitresolution•Commandsoperatingatspeedsapproaching100Mbs•Distributedprocessingtherebyreducingcommunicationoverhead•Max.254drives(nodes),andnodetonodelimitis50m•Telegrams(acollectionofmessages)traversetheringinafullydeterministicmannerSERCOSadvantagesSERCOS•WiringsimplificatioSERCOSPhysicalInterface Typeoffiber-opticcables Transmitters LightfrequencyCommunicationProtocol Explicitdescriptionsofmotioncontrolstructuresand mechanisms,definingmorethan400standardparametersApplicationInterface DataisaddressedviaIDNintherangeof216. StandardIDN’s(IDN:1~32767) Manufacturer’sIDN’s(IDN:32768~65536)SERCOSinterfaceSERCOSPhysicalInterfaceSERCOSERCOSTopology-SingleRingSERCOSTopology-SingleRingMastercontrolstheringandassignsthetimeslotstoensuredeterministicandcollision-freeaccessforallslavesSERCOSTopology-DualRingMastercontrolstheringTheorderofthetelegramspostedwithinacommunicationcycle:

MST

->

AT

->

MDTMST -MasterSynchronizationTelegram

TheMSTisbroadcastbythecontrolunitandisreceivedsimultaneouslybyalldrivesatthebeginningofeachtransmissioncycle,itensuresthatalldrivesarereceivingmessagesinfullcoordination(tosynchronizethetimingofthecycle).AT -AmplifierTelegramThedrivessendtheirmessages(e.g.positionfeedback)insuccessioninallottedtimeslotsbacktothecontrollerMDT -MasterDataTelegramTheMDTisreceivedsimultaneouslybyalldrives.ThecontrollersendsMDTattheendonceduringeachtransmissioncycle,containsalltheinformationtobeconveyedfromthecontrollertothedrivessuchaspositioncommandSERCOSTelegramTheorderofthetelegramsposMST,AT,MDT-timesequenceExample:GetAccel-IDN1041--ATSetAccel-IDN2041--MDTMST,AT,MDT-timesequenceExTransmissionModesCyclicData:(inCyclicchannel)-Deterministicdatasuchascommandvaluesandcommandfeedback,statusinformation,andactualvalues-SercosallowstheusertospecifywhichdataisupdatedinthecyclicchannelNon-CyclicData:(inServiceChannel)-Non-deterministicandnon-timecriticaldatasuchasprocedurecommandsanddiagnosticfunctions-Itistransmittedinanotherportionofthetelegramcalledtheservicechannel(2BytesperdrivearereservedfortheServiceChannelintheATandintheMDT)TransmissionModesCyclicData:MST-MasterSyncTelegramBOF: Beginningofframe(1byte)ADDR: Thebroadcastaddressofthetelegram(1byte)DataField: Consistssolelyofringstatusdata(1byte)FCS: FrameCheckSequence(2bytes)-CRC(cyclicredundancycheck)EOF: EndofFrameMSTTelegramThecontrollersendsaMasterSyncTelegram(MST)toalldrivessimultaneouslytoensuretheyarereceivingmessagesinfullcoordinationMST-MasterSyncTelegramBOF:AT-AmplifierTelegramBOF(EOF):TelegramDelimiterADDR: 1-254(1byte)DataField:FixedStructure(Non-Cyclic) -ServiceInformation -ControlStatus ConfigurableStructure(Cyclical) -ConfigurableDataFieldFCS:FrameCheckSequenceATTelegramEachdrivesendsanATbacktothecontrollerwithinformationsuchaspositionfeedbackAT-AmplifierTelegramBOF(EOFATDataFieldStructureExample:OperationData-IDN00040--FDBKVelocityValueIDN00084--TorqueFDBKATDataFieldStructureExampleMDT-MasterDataTelegramADDR:255(broadcast)DataField:FixedStructure(Non-cyclic) -ServiceInformation -ControlStatus ConfigurableStructure(Cyclic) -ConfigurableDataFieldMDTTelegramThecontrollerpostsaMDTthatcontainsoperationdataforeachdriveMDT-MasterDataTelegramADDRMDTDataFieldStructureExample:OperationData-IDN00036--DriveVelocityCommandIDN00092--TorqueLimitMDTDataFieldStructureExamplTheControlUnit(Controller)-MasterresponsibilityResponsiblefor:ClosingtheringIdentifyingaxesLoadingcommunicationparametersLoadingotherparametersMaintainingcyclicoperationsOperationMode:TorqueControlVelocityControlPositionControlInterpolationModeSynchronousModeElectronicGearingTheControlUnit(Controller)ClasslErrororfaultwhichimpairsdriveoperation(overcurrent,overvoltage,communicationerror)MasterforcesdecelerationtozerospeedMastermaydisablefaulteddriveorentireloopClassllWarningcondition(motorovertemp)MayresultinClasslstatusifproblempersistsClasslllProvideoperationalstatusofevents(probeactivated,currentatthresholdetc.)TwobitsinthedatatelegramfromthedrivecanbeassignedtoreflectthestatusofaspecificIDnumberSercosDiagnosticClasslSercosDiagnosticPacDriveSERCOS-PhasesShutdownPhase0ScanningPhase1SetupcommunicationPhase2SetupdevicePhase3OperationmodePhase4PacDriveSERCOS-PhasesShutdPacDriveSERCOSPhasesPhaseActionTodo0Masterdeterminesifthereisaclosedringbysending10sync.telegramsSeeiftheloopiscommunicating.Drivesactasrepeaters1MasteraddresseseachdriveindividuallytoidentifyeachmemberoftheloopFindoutwhatdevicesareontheloop2MasterconfiguresthecyclicdatacontentandsizeforeachdriveAssigntheSERCOSlooptimingparameterstoeachdrive3Masterconfiguresgeneralparametersforeachdrive(gains,etc.)Theservicechannelstothedrivesarefunctioningandalltimingparametersarebeingused.ThereadIDNandwriteIDNareoperableCyclicdatalistsconfiguration,driveconfiguration4NormalOperationThecontrollerissendingcyclicdatatothedrives.TheloopisupandmotioncommandsareallowedPacDriveSERCOSPhasesPhaseActPacDriveSERCOS-Timingonphase4Master(PacDriveController)Slave(Drive)MST:MasterSynchronTelegramMSTMSTCycle(1ms,2ms,4ms)MDT:MasterDataTelegramAT:DriveTelegramAT1AT2ATn...12...nMDTFixed

ΔT

Exchangedatabetweencontrolleranddrives,transmits

commandandactualvalueswithextremelyshortcycletime

Guaranteeexact

synchronization

forprecisecoordinatedmove

withasmanyaxesasrequiredPacDriveSERCOS-TimingonphPacDriveSERCOS-DatagramsMSTMSTAT1AT2ATn...12...nMDTSTATUS2BytesSC2BytesPosition,...nBytesSERCOS-Statusinfo-SC:ServiceChannelApplication-Config.inPhase2-FixinPhase3and4AT1RefPosition,...n

BytesApplication-Config.inPhase2-Fix.InPhase3and4SERCOS-Controlinfo-SC:ServicechannelSC2BytesCTRL2BytesMDT1MechRefPosition,ControllerEnable,UserCurrentSelect,UserCurrentOn,Etc...Position,MechPosition,EncoderPosition,FollowingError,Velocity,RtDriveData(),DeviceState/MC4State,HW_Enable,Inverter_Enable,Ready,MotorTemp,FastCounter(SCL),TouchProbe(SCL),Etc...PacDriveSERCOS-DatagramsMSTPacDriveSERCOS-NumberofSlavesCycleTime[ms]Baudrate[MBd]MC-4iSH+PS-5iSH+PS-5(2*TouchProbe)1481611265011+127+152+29+122+142+22481623539924+155+296+320+145+286+34481648999949+296+396+341+293+396+3Examples:4Mbaud->4Mbit/sec->500KByte/sec->

500Byte/msec!!!PacDriveSERCOS-NumberofSl

PacDriveSERCOSlightIntensityControllerMC-4AdjusttheMC-4SERCOSsenderintensityforthelightsourceofthefiberopticcable.TheintensitydependsonthefiberopticcablelengthbetweentwonodesControllerintensitysetbySoftwareMC-4intensitysetbyDipSwitchesPacDriveSERCOSlightIntensiOverViewHardwareoverviewEndsOverViewHardwareoverviewEnds0.2HardwaresystemintroductionPacDriveTMCommProgrammingConfigurationMotionDiagnosisHardware0.2HardwaresystemintroductiPacDriveMArchitectureIT/HMIMotionLogicEthernet,TCP/IP,OPC,ftp,http,SMS,SMTPProfibusDP,Ethernet/IP,CANSERCOSIISMSMI/OStepperInverterMotion

LogicControls:C200A2,C200A8,C400A8,C400A16,C600A99I/OMC-4Safe

LogicEmbeddedorPC-HMIDB-5iSHiSHMC-4PS-5SHMC-4PacDriveMArchitectureIT/HMIPacDriveM–ControllersControllerC600ControllerC200

ControllerPerformanceOptionsforallControllersProfibusCanOpenDevicenetModBusEthernetIPControllerC4002/4/8Axes8/16Axes99AxesPacDriveControllerbasedonVxWorksreal-timeOS.PLCandMotionFunctionPacDriveM–ControllersConPacDriveC600PacDriveC600PacDriveLEDStatus&itsKeypadKeypad-threebuttonshavenofunctionTwoswitchesunderneaththeKeyPadON/OFF -switchesthecontrolleronoroffReset -rebootthecontrollerPOW -Controlpoweron/offindicatorwd -Watchdogindicatorerr -Errorindicatorbuserr -SERCOSreal-timebuserrorindicatorLEDstatusPacDriveLEDStatus&itsKeypPacDriveLEDStatusNotePacDriveLEDStatusNoteTheBatteryThebatterystorescontrollerdata(Bios,NVRAM,time,etc.)Itshouldbereplacedevery6yearsThediagnosticmessage‘037Batterydown’-showsbatteryislowBatterycanbechangedon/offlineThebuffereddatacanonlybeheldfor5min.withcontrolleroffUseonlyBattery3VLithiumRenata2450N

UseinsulatedplierstopullthebatteryoutTheBatteryThebatterystoresFlashCard&EthernetLEDCompactFlashTMcardisforthepermanentdatastorage(CFcard)ofthecontroller.YoumustturnoffthecontrollertoreplacethecardFlashCardslotFlashCard&EthernetLEDCompaX1ConnectionX1-ControlvoltageandWatchdogconnectionX1ConnectionX1-ControlvoltX2ConnectionX2-DigitalOutputsconnectionX2ConnectionX2-DigitalOutpX3ConnectionDigitalinput:1or5mscanbeparameterizedX3-DigitalInputsconnectionX3ConnectionDigitalinput:1X4ConnectionFastinput:0.1or1mscanbeparameterizedTouchprobe:100µsresolutionX4-Touchprobe(TP)andFastinputsconnectionsX4ConnectionFastinput:0.1X5ConnectionX5-AnalogI/OconnectionX5ConnectionX5-AnalogI/OcX5Connection-continuousAnaloginputconnectionexample1.Voltageorcurrentmeasurementconnectsonpin1/pin3andpin10/pin122.Jumperpin2orpin11forcurrentmeasurementasshowninthediagramX5Connection-continuousAnalX11ConnectionX11-Masterencoder(SinCos)X11-Masterencoder(incremental)X11ConnectionX11-MasterencX17,X18ConnectionX17-Com1(RS232)X18-Com2(RS485)X17,X18ConnectionX17-Com1X19,X20ConnectionX19-CANX20-ProfibusdbX19,X20ConnectionX19-CANX2Motor

Controller(MC-4)ConnectorsVoltage24VX1Incomingpower230V/400V

X2DCbus

X3MotorX4

InputFiberopticsconnectorX5DiagnosticsX7Encoder

X8ShieldLWLinternal

S3OutputFiberopticsconnectorX6MotorController(MC-4)ConnecMC-4LEDStatusIfPLCdoesnothaveMC-4configuredintheSERCOSlink,buserrwillblinkfastPOW-Controlpoweron/offindicatorerr-errorindicatorbuserr-SERCOSbuserrorindicatorMC-4LEDStatusIfPLCdoesno1.5A-10A,X1ConnectionX1-ControlvoltageInputcurrentof24Vshouldbe<=8ANomorethansix(6)wiresshouldbeinsertedintoaterminal1.5A-10A,X1ConnectionX1-1.5A-10A,X2ConnectionX2-MainsconnectionInputcurrentshouldbe<=24Athe5AMC-4canhave1-phase,or3-phaseat220~240V;with1-phaseconnectsLtoL1andNtoL2,leavesL3open1.5A-10A,X2ConnectionX2-1.5A-10A,X3&X4ConnectionX3-DCbusconnectionTheterminalcurrentshouldbe<=24AX4-MotorpowerconnectionTheterminalcurrentshouldbe<=24A1.5A-10A,X3&X4Connection22A,50A,X1ConnectionX1-Controlvoltage22A,50A,X1ConnectionX1-Co22A,X2,X3,&X4ConnectionX2-MainsconnectionX3-DCbuscircuitX4-Motorconnection22A,X2,X3,&X4ConnectionX250A,X2,X3,X4ConnectionX2-MainsconnectionX3-DCbuscircuitX4-Motorconnection50A,X2,X3,X4ConnectionX2-All,X7,X8ConnectionX7-DiagnosisconnectionX8-Motorencoder(SinCos)All,X7,X8ConnectionX7-DiPartsLegend

MC-4/11/03/400NominalCurrent03=3A05=5A(single230V~)10=10A22=22A50=50AVoltage230=230V

(singlephase5AMC-4)400=400V

(3phase)SeriesPEL1NPE

L1L2L3PLCConfiguration

PhaseCheckon/TRUE off/FALSEPartsLegend

MC-4/11/0Motor

ControllerMC4NominalCurrent50AMC-4/11/50 NominalCurrent22AMC-4/11/22 NominalCurrent3A,10A,5A(single230V~),

MC-4/11/10(/05&/03) capacityMotorControllerMC4NominalCL‘Encoder

SinCos®NoteResolutionof1024periodsperrevolutionElectronicnameplate(EEPROM)OnMulti-turnencoder(absoluteencoder)Countsupto4096revolutionsL‘EncoderSinCos®NoteResolutSMMotorsEncoderCodediscofGreyCodeSMMotorsEncoderCodediscofSMMotorsPTCPTCsembeddedinthewindings;thisiswhenMotorOvertempcomesfromSMMotorsPTCPTCsembeddedinTemperaturecontrol

Three(3)Temperaturesensors

Oneisbeneathheatsink

Oneisbeneathbleederresistors

OneisontheControllerboard

3Temperaturethresholds

Threshold1:switchingonfan

Threshold2:TemperaturewarningDiagCode

:6126

Threshold3:TemperaturefailureDiagCode

:2101Motor

ControllerMC4-TempControlTemperaturecontrolMotorContrPacDriveiSH-refertoslide2sizingofthesystemdependingonnumberofmotors/holdingbreakscablelengthapplicationdrivesizingwithECAM(V3.00)orLexiumSizerSystemiSHPacDriveiSH-refertoslidePacNet-ControllerextensionDI01InputandOutput

extension

-16input(normalorTP)-16OutputCommunication<1msInOutENC1

Encoderextension-2EncoderInputs-1Programmable(In/Out)PacNet-ControllerextensionSERCOSQuickOverviewSercos–SerialDataLinkforRealTimeSERCOSQuickOverviewSercos–AtraditionaldistributeddrivecontrolsystemAcentralizedIPC/PLC-basedsystemusingRealTimeProtocols1.Realtimeprotocols:EtherCat,SERCOS,ProfiNet,etc2.Controllercanstilldolowlevelrequirementlikecurrentcontrol,andvelocityobservation3.PLCisalleviatedtodohighlevelrequirementlikeVelocity,andPositioncontrolRealTimeProtocolsDistributedvs.CentralizedcontrolsystemAtraditionaldistributeddrivSERCOS

•

Wiringsimplification•Noiseelimination•Precisevelocityandprecisioncommandsat32-bitresolution•Commandsoperatingatspeedsapproaching100Mbs•Distributedprocessingtherebyreducingcommunicationoverhead•Max.254drives(nodes),andnodetonodelimitis50m•Telegrams(acollectionofmessages)traversetheringinafullydeterministicmannerSERCOSadvantagesSERCOS•WiringsimplificatioSERCOSPhysicalInterface Typeoffiber-opticcables Transmitters LightfrequencyCommunicationProtocol Explicitdescriptionsofmotioncontrolstructuresand mechanisms,definingmorethan400standardparametersApplicationInterface DataisaddressedviaIDNintherangeof216. StandardIDN’s(IDN:1~32767) Manufacturer’sIDN’s(IDN:32768~65536)SERCOSinterfaceSERCOSPhysicalInterfaceSERCOSERCOSTopology-SingleRingSERCOSTopology-SingleRingMastercontrolstheringandassignsthetimeslotstoensuredeterministicandcollision-freeaccessforallslavesSERCOSTopology-DualRingMastercontrolstheringTheorderofthetelegramspostedwithinacommunicationcycle:

MST

->

AT

->

MDTMST -MasterSynchronizationTelegram

TheMSTisbroadcastbythecontrolunitandisreceivedsimultaneouslybyalldrivesatthebeginningofeachtransmissioncycle,itensuresthatalldrivesarereceivingmessagesinfullcoordination(tosynchronizethetimingofthecycle).AT -AmplifierTelegramThedrivessendtheirmessages(e.g.positionfeedback)insuccessioninallottedtimeslotsbacktothecontrollerMDT -MasterDataTelegramTheMDTisreceivedsimultaneouslybyalldrives.ThecontrollersendsMDTattheendonceduringeachtransmissioncycle,containsalltheinformationtobeconveyedfromthecontrollertothedrivessuchaspositioncommandSERCOSTelegramTheorderofthetelegramsposMST,AT,MDT-timesequenceExample:GetAccel-IDN1041--ATSetAccel-IDN2041--MDTMST,AT,MDT-timesequenceExTransmissionModesCyclicData:(inCyclicchannel)-Deterministicdatasuchascommandvaluesandcommandfeedback,statusinformation,andactualvalues-SercosallowstheusertospecifywhichdataisupdatedinthecyclicchannelNon-CyclicData:(inServiceChannel)-Non-deterministicandnon-timecriticaldatasuchasprocedurecommandsanddiagnosticfunctions-Itistransmittedinanotherportionofthetelegramcalledtheservicechannel(2BytesperdrivearereservedfortheServiceChannelintheATandintheMDT)TransmissionModesCyclicData:MST-MasterSyncTelegramBOF: Beginningofframe(1byte)ADDR: Thebroadcastaddressofthetelegram(1byte)DataField: Consistssolelyofringstatusdata(1byte)FCS: FrameCheckSequence(2bytes)-CRC(cyclicredundancycheck)EOF: EndofFrameMSTTelegramThecontrollersendsaMasterSyncTelegram(MST)toalldrivessimultaneouslytoensuretheyarereceivingmessagesinfullcoordinationMST-MasterSyncTelegramBOF:AT-AmplifierTelegramBOF(EOF):TelegramDelimiterADDR: 1-254(1byte)DataField:FixedStructure(Non-Cyclic) -ServiceInformation -ControlStatus ConfigurableStructure(Cyclical) -ConfigurableDataFieldFCS:FrameCheckSequenceATTelegramEachdrivesendsanATbacktothecontrollerwithinformationsuchaspositionfeedbackAT-AmplifierTelegramBOF(EOFATDataFieldStructureExample:OperationData-IDN00040--FDBKVelocityValueIDN00084--TorqueFDBKATDataFieldStructureExampleMDT-MasterDataTelegramADDR:255(broadcast)DataField:FixedStructure(Non-cyclic) -ServiceInformation -ControlStatus ConfigurableStructure(Cyclic) -ConfigurableDataFieldMDTTelegramThecontrollerpostsaMDTthatcontainsoperationdataforeachdriveMDT-MasterDataTelegramADDRMDTDataFieldStructureExample:OperationData-IDN00036--DriveVelocityCommandIDN00092--TorqueLimitMDTDataFieldStructureExamplTheControlUnit(Controller)-MasterresponsibilityResponsiblefor:ClosingtheringIdentifyingaxesLoadingcommunicationparametersLoadingotherparametersMaintainingcyclicoperationsOperationMode:TorqueControlVelocityControlPositionControlInterpolationModeSynchronousModeElectronicGearingTheControlUnit(Controller)ClasslErrororfaultwhichimpairsdriveoperation(overcurrent,overvoltage,communicationerror)MasterforcesdecelerationtozerospeedMastermaydisablefaulteddriveorentireloopClassllWarningcondition(motorovertemp)MayresultinClasslstatusifproblempersistsClasslllProvideoperationalstatusofevents(probeactivated,currentatthresholdetc.)TwobitsinthedatatelegramfromthedrivecanbeassignedtoreflectthestatusofaspecificIDnumberSerco