Moog MSD Servo Drive Series, Device Help, Page: 120 / 320

MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive - Device Help
120
7 Control
No. Action
1 Open manual mode window.
2 Approach start position
3 Speed control mode control setting (set high rigidity, for smooth running)
4
Set the teaching direction if necessary: P 445[0] - CON_TAB_TeachDir
Default: POS(1)= teaching routine in positive direction.
5
Set the offset and delta if necessary using:
P 442[0] - CON_TAB_PosStart , default 0
P 443[0] - CON_TAB_PosDelta , default 1000 inc/TabElement
= e.g. (endpos inc - startpos inc) / 4000 elements
6
Set the input tuning if necessary using:
P 447[0] - CON_TAB_Tune.TimeDelay , default 0
P 447[1] - CON_TAB_Tune.PosShift , default 0
7 Start control
8 Run motor at low speed (≤ 1 rpm).
9
Set the position source for the teaching, activate teaching: Select
P 385[0] - CON_TCoggTeachCon= (5)TeachUserRefPos or select
P 385[0] - CON_TCoggTeachCon= (7)TeachPosEncPcon or select
P 385[0] - CON_TCoggTeachCon= (9)TeachPconActPos or select
P 385[0] - CON_TCoggTeachCon= (10)TeachPosEncRed .

The teaching routine begins (but only with PosStart).
10
Wait until at least 1 motor revolution is completed in the teaching routine
(internal filter time).
--- Check P 440[0] - CON_TAB_TabIndex and P 446[0] - CON_TAB_OutVal
11
With the control still operating, the teaching is then stopped by calling the
calculation function once:
12
Stop control
No. Action
13
P 385[0] - CON_TCoggTeachCon = (3)CALC1.
This imports all values into the internal compensation table (big table with
4000 elements).
14
Save device data.
- The position source used by the teaching is also saved here. It will later
be used for the compensation once again in exactly the same manner.
15 Use the scope to monitor IsqRef_Comp
7.3.4.6 Compensation as a function of mechanical rotation
(EPMS)
Teaching routine and compensation

big CompTab (4000)
- Incremental, ‘rotary' recurring position
- Without offset and delta, with tuning, with fader
- (6) Teach epsm mechanical angle (shaft), SingleTurn position from encoder for
commutation
- (11) Teach singleturn position from position control, SingleTurn position of the
position control, + axis correction
- (12) Teach epsrs, commutation angle (electrical)