MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
136
7 Control
ID
Index Name
Unit Description
372
0
CON_IP_SFFTF
ms
374
0
CON_IP_EpsDly
ms
375
0
%
376
376
0
376
1
377
Speed feedforward filter time constant (PCON
mode)
Delay pos. reference by integer no. of cycles
CON_PConTS
Scaling of speed feedforward
Scaling of torque feedforward
Scaling of torque feedforward (PCON mode)
Scaling of torque feedforward (SCON mode)
Enable feedforward
377
0
377
1
378
0
CON_IP_SFFScale
CON_IP_TFFScale
TFFScale_PCON
TFFScale_SCON
CON_IP_EnableFF
CON_IP_EnableFF
CON_IP_EnableFF
CON_IP_ACCFFTF
ms
379
CON_IP_FFMode
379
0
PosHighRes
379
1
Speed
379
2
Torque
386
CON_SCON_TFric
386
0
CON_SCON_TFric
%
386
1
%
Acceleration feedforward filter time constant
(PCON, SCON mode)
Feed-forward calculation mode
Position high resolution
Speed pre-control
Torque pre-control
Dry friction comp., normalized to motor rated
torque
Friction torque compensation settings
The table values 0 to 2 are always applicable
while table values 3 to 4 only take effect in the
acceleration range.
Compensation value 1
386
2
%
386
3
%
386
4
CON_SCON_TFric
CON_SCON_TFric
CON_SCON_TFric
CON_SCON_TFric
%
387
Compensation value 2
Compensation value 3
Compensation value 4
Compensation value 5
387
0
rpm
387
1
rpm
387
2
rpm
387
3
rpm
Friction torque compensation: Speed limits
Friction torque compensation: Speed limit 1
Friction torque compensation: Speed limit 2
Friction torque compensation: Speed limit 3
387
4
rpm
388
0
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TConst
%
1516
0
SCD_Jsum
kg
m*m
Friction torque compensation: Constant
(independent of direction)
Total inertia of motor and plant
Table 7.19: “Position controller - Pre-control” parameters
NOTE
Torque feed-forward control will be disabled if linear interpolation
is used.
The overall moment of inertia in
P 1516[0] - SCD_Jsum
must not
be changed to optimize the pre-control, because this would also
have an effect on other controller settings!
In multi-axis applications requiring precise three-dimensional axis
coordination, such as in the case of machine tools, the delay of
the position signal must be equally set on all axes via
P 374[0] -
IP_EpsDly
. Otherwise the synchronization of the axes may suffer,
leading to three-dimensional path errors.
7.5.2 Friction torque compensation (friction)
Two types of friction influence the variables of the position tracking error:
Dry friction (grip), which acts depending on the direction of motion, but
independently of the speed’s magnitude.
Fluid friction (viscosity), which acts proportionally to speed.
Friction torque compensation can be used for both types of friction. Both types of
friction are described in the compensation table by a function starting from speed = 0
or force = 0 up to a defined speed or force. Above the specified limit, the speed or
force remains constant. Compensation is performed as a percentage of rated motor
torque and power.