ID
Index Name / Setting
Unit Description
function can also be activated by parameter
P 269[0] - MPRO_TAB_Ctrl
bit 0.
TAB0 (23)
Binary table index 2^0
TAB1 (24)
Binary table index 2^1
TAB2 (25)
Binary table index 2^2
TAB3 (26)
Binary table index 2^3
EGEAR (27)
Start/Stop electronic gearing
REFANAEN (28)
Enable analog reference
ENC (29)
Use of ISD05 / ISD06 as encoder input (pulse
count, pulse/direction).
JOG_EXT_POS (34)
Jog Positive (extended mode)
JOG_EXT_NEG (35)
Jog Negative (extended mode)
FAST_DISC (36)
Fast discharge of DC link (using a braking
resistor)
LIM_OFF (37)
Limits off (torque and speed): Torque scaling
(
P 332[0] - CON_SCON_TmaxScale
) and
speed limiting (
P 337[0] - CON_SCON_
SmaxScale
) will be disabled (ISDxx = "high"). If
the function is not parameterized to an input
(ISDxx = "low") the limits are always active.
LOCK_POS (38)
Lock positive direction: Reversing lock, positive
direction (access also via MSD PLC ).
LOCK_NEG (39)
Lock negative direction: Reversing lock,
negative direction (access also via MSD PLC ).
BRAKE_ON (40)
Switch off motor break at once
PWR_REL_DIRECT (41)
Used to manually switch the precharge relay
(with 1000 ms delay) Use only after consultation
with Moog.
SPINDLECLAMP_S1 (42)
Switch 1 input
SPINDLECLAMP_S2 (43)
Switch 2 input
SPINDLECLAMP_S3 (44)
Switch 3 input
SPINDLECLAMP_P (45)
Clamping Pressurized input
SlaveBC (46)
Brake chopper synchronization only on ISD05
and ISD06
USER2 (47)
Test case 47
START_PRC (48)
Start process controller
Table 9.2: Function selectors “Digital inputs” (continue)
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
293
9 Inputs/Outputs settings
9.2.3 Hardware enable – power stage
MSD Servo Drive Single-Axis System, MSD Servo Drive Multi-Axis System and
MSD Single-Axis Servo Drive Compact support the "STO" (Safe Torque Off) safety
function in accordance with the requirements of EN ISO 13849-1 and EN 61800-5-
2 / IEC/EN 62061 / IEC/EN 61508.
NOTE
l
For basic information, as well as mandatory planning, wiring,
commissioning and testing requirements for the STO function, see
the “STO safety function description” for the MSD Servo Drive
Single-Axis System, MSD Servo Drive Multi-Axis System and
MSD Single-Axis Servo Drive Compact (ID No.: CB19388).
The digital input "ENPO" is reserved for the hardware enable. At the setting P 100[0]
- MPRO_INPUT_FS_ENPO = "OFF(0)" the digital input signal is used merely for safe
shutdown of the drive and as protection against switching on.
With the setting P 100[0] - MPRO_INPUT_FS_ENPO = “START (1)" in combination
with P 144[0] - MPRO_DRVCOM_AUTO_START = "ON" autostart mode is activated
(only in MSD Servo Drive). With "STO active" activating the "ENPO" is sufficient to
start control of the drive. When the "ENPO" is cancelled the drive runs down
uncontrolled. If the switch-on delay is active, the power stage starts when the preset
timer has elapsed.
ID
Index Name / Setting
Unit Description
100
0
MPRO_INPUT_FS_ENPO
Function of digital input ENPO
Off (0)
Hardware enable power stage
START (1)
Hardware enable power stage & start motor control
Table 9.3: “Enable power stage (hardware)” parameters
