Moog MSD C2, Operation Manual

Page: 41 / 72

41
MSD Single-Axis Servo Drive Compact Operation Manual
ID no.: CA97555-001 Date: 04 /201 8
moog
Method to calculate the continuous braking power:
y
Calculation of effective s ervo d rive utilisation in
a cycle T:
dt i
T
I
T
eff
∫
=
0
2
1
1 1 K
I
I
P
N
eff
DBr
× − =
Br
T
PBr DBr
dt P
T
P
∫
× ≥
0
1
∫
×



 


=
T
Br
DBr
PBr dt
P
P
T
0
T
P
P
T
DBr
PBr
BrSum
× =
y Determination of permissible continuous braking
power based on unused drive power:
dt i
T
I
T
eff
∫
=
0
2
1
1 1 K
I
I
P
N
eff
DBr
× − =
Br
T
PBr DBr
dt P
T
P
∫
× ≥
0
1
∫
×



 


=
T
Br
DBr
PBr
dt
P
P
T
0
T
P
P
T
DBr
PBr
BrSum
× =
Marginal conditions
y
A single braking action must not exceed the
maximum pulse energy of the braking resistor.
W
IBr
≥
P
PBr
x T
Br
y The continuous braking power calculated for the
device must be greater than the effective braking
power of a device cycle.
dt i
T
I
T
eff
∫
=
0
2
1
1 1 K
I
I
P
N
eff
DBr
× − =
Br
T
PBr DBr
dt P
T
P
∫
× ≥
0
1
∫
×



 


=
T
Br
DBr
PBr
dt
P
P
T
0
T
P
P
T
DBr
PBr
BrSum
× =
This results in the minimum permissible
cycle time T with calculated continuous
braking power:
dt i
T
I
T
eff
∫
=
0
2
1
1 1 K
I
I
P
N
eff
DBr
× − =
Br
T
PBr DBr
dt P
T
P
∫
× ≥
0
1
∫
×



 


=
T
Br
DBr
PBr dt
P
P
T
0
T
P
P
T
DBr
PBr
BrSum
× =
The maximum total on-time of the braking
resistor over a specified cycle time T with
calculated continuous braking power is:
dt i
T
I
T
eff
∫
=
0
2
1
1 1 K
I
I
P
N
eff
DBr
× − =
Br
T
PBr DBr
dt P
T
P
∫
× ≥
0
1
∫
×



 


=
T
Br
DBr
PBr dt
P
P
T
0
T
P
P
T
DBr
PBr
BrSum
× =
Device Technology
Rated resist-
ance R
BR
Peak braking
power P
PBr
Pulse
energy W
IBr
K1
G394-059
Wire resistance
100 Ω 1500 W
1)
150 Ws 120
G394-035 420 Ω
1000 W
2)
1300 W
3)
1400 W
4)
140 Ws 50
G394-080
90 Ω
1690 W
1)
6000 Ws 170
G394-065
4700 W
2)
6170 W
3)
6500 W
4)
6000 Ws 120
G394-120 90 Ω
4700 W
2)
6170 W
3)
6500 W
4)
6000 Ws 120
G394-160 90 Ω
4700 W
2)
6170 W
3)
6500 W
4)
6000 Ws 120
1) Data referred to 1 x 230 V AC mains voltage (BR switch-on threshold 390 V DC)
2) Data referred to 3 x 400 V AC mains voltage (BR switch-on threshold 650 V DC)
3) Data referred to 3 x 460 V AC mains voltage (BR switch-on threshold 745 V DC)
4) Data referred to 3 x 480 V AC mains voltage (BR switch-on threshold 765 V DC)
K1 = Factor for the calculation of the permissible continuous braking power, see next page
Table 4.16 Data of the integrated braking resistor (design G394-xxx-xxx-xx2/xx4)
If the drive is not permanently operated at its power limit, the reduced power dissipation
of the drive can be used as braking power.
NOTE:
The rest of the calculation assumes that the servo drive is used at maximum
permissible ambient temperature. This means that any additional energy input
for the internal braking resistor due to a lower ambient temperature will be
neglected.