Moog MSD Servo Drive Series, Device Help

Page: 205 / 320

8.7 Setpoint table
With the reference table up to 16 reference values can be defined. In the process,
the drive moves to its targets conforming to the respective
motion blocks .
Depending on the selected control mode, each reference in the table assigned a
speed, acceleration and deceleration value. The table reference values can be used
in any control mode.
Fig. 8.66: “Setpoint table” screen
The setpoints need to be provided in the distance units defined by the user
(for details on how distance units are defined, see Section "S
caling / units" on
page 1 62 ).
MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive - Device Help
205
8 Motion profile
Control mode
NOTE

“Control mode” does
not
refer to the motor control here (
see
Section
"Control" on page 105), but rather to the source that will
specify the table index!
P 205[0] - MPRO_TAB_Mode is used to define which source will specify the table
index:

PARA (0) = Via current index (parameter No. 207)
The value written to P 207[0] - MPRO_TAB_ActIdx (via a fieldbus, for
example) will immediately be applied as the current table index and the
corresponding driving job will be carried out.

TERM (1) = Via terminals
A bit pattern that will be applied as the value for the table index will be
specified via digital inputs. In order to be able to select all 16 table entries,
four digital inputs with TAB0(23) = Binary table index 2^0 to TAB3(26) =
Binary table index 2^3 need to be configured. For details on configuring the
digital inputs, see Section "Digital Inputs" on page 2
32 .

AUTO (2) = With delay (parameter No. 204)
Follow-up driving jobs will be carried out automatically. The number of
driving jobs entered in P 206[0] - MPRO_Tab_MaxIdx will be carried out one
after the other. This operation is repeated until the drive is stopped or the
table is disabled. There will be a wait time of P 204 - MPRO_TAB_WaitTime
between the individual driving jobs.

BUS (3) = Via fieldbus
Used to select a table value via PROFIBUS. No other field bus systems are
implemented. For details on PROFIBUS, see Section "PROFIBUS /
PROFINET" on page 2
9 4.