Moog MSD Servo Drive Series Device Help Download

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6.8.1 Sensorless control synchronous motor

NOTE



Sensorless control with an expanded Kalman filter requires the
following firmware versions:

MSD Servo Drive: V3.25-95 or higher

MSD Single-Axis Servo Drive Compact: V1.30-98

Value

Value replacement text

Description

READY

Waits for input

TAKEOVER_ENC CH1

Switches to encoder channel 1 in
real-time

TAKEOVER_ENC CH4

Switches to encoder channel 4 in
real-time

PRESET

General initialization for encoder
channel 4 with sensorless control;
the following are carried out
during this initialization routine:



The test signal generator
is configured



The Q matrix, R matrix are
calculated



Initializing the Kalman
filter

Table 6.28: ENC_CH4_Ctrl (P783) control word

MOOG

No.:

CB40859-001

Date:

02/2018

MSD Servo Drive - Device Help

6 Encoder

Value

Value replacement text

Description

START_ KAL

Starts and initializes the Kalman
filter without determining the
noise covariance matrices and
without configuring the test signal
generator

STOP _KAL

Stop encoder module CH4

CALC_RQ

Calculates noise covariance
matrices R and Q based on the
configured motor parameters

Table 6.28: ENC_CH4_Ctrl (P783) control word (continue)

P No.

Index Name

Unit Description

339

CON_SCON_Kalman

Kalman: Setting

Tf_Kalman

Kalman: Integral time

KpScale_Kalman

Kalman: Gain

350

CON_SCALC_SEL

Used to select the speed calculation method

SEL_ObserverMethod

Selection of speed calculation method

508

ENC_CH4_Sel

Selection of encoder type

783

ENC_CH4_Ctrl

Control

790

ENC_CH4_Kalman_R

Sensorless control: R matrix

791

ENC_CH4_Kalman_Q

Sensorless control: Q matrix

791

Q[0,0]

Sensorless control: Q matrix (id)

791

Q[1,1]

Sensorless control: Q matrix (iq)

791

Q[2,2]

Sensorless control: Q matrix (omega)

791

Q[3,3]

Sensorless control: Q matrix (epsilon)

791

Q[4,4]

Sensorless control: Q matrix (T load)

792

ENC_CH4_Kalman_
SigInj

Sensorless control: Test signal generator

792

Signal

SC test signal: Signal calculation selection

792

Frequency

SC test signal: Sinusoidal signal frequency

Table 6.29: “Sensorless synchronous motor control” parameters

Summary of Contents for MSD Servo Drive Series

Page 1: ...MSD Servo Drive and MSD Single Axis Servo Drive Compact Device Help MOOG Servo Drive 2 A to 450 A Single Axis Systems and Multi Axis System...

Page 2: ...2018 Effective as of firmware version V124 15 13 MSD Single Axis Servo Drive Compact V124 15 13 MSD Servo Drive Single Axis System and Multi Axis System The outline behind this help as well as the sc...

Page 3: ...MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 3 Change history...

Page 4: ...MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 4 Change history...

Page 5: ...nnot always be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time Please refer to drives support moog com for the l...

Page 6: ...ating of switching frequency 26 4 1 4 Parameters 26 4 2 Power failure bridging 28 4 2 1 Functional description 28 4 2 2 Parameter configuration 28 4 2 3 Modes 29 4 2 4 Parameters 30 5 Motor 31 5 1 Mot...

Page 7: ...ro pulse test 104 7 Control 105 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 7 Table of contents 7 1 Control structure overview 105 7 1 1 Setting 106 7 2 Basic settings 107 7 2 1 Mo...

Page 8: ...and 32 202 8 5 15 Methods 33 and 34 With zero pulse 202 8 5 16 Method 35 203 8 6 Jog mode 203 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 8 Table of contents 8 6 1 Configuration 2...

Page 9: ...display 265 11 4 1 Servo drive display 265 266 266 11 4 2 Moog DriveAdministrator display 11 5 Error reactions 11 6 Error list 269 12 Fieldbus 293 12 1 CANopen EtherCAT 293 12 2 SERCOS 294 12 3 PROFIB...

Page 10: ...ion for the devices must be legible accessible at all times and kept for the product s entire service life Read and understand the documentation for your device Qualifications To avoid bodily injury a...

Page 11: ...and applicable standards technical data CA97556 001 PDF 5 MSD Servo Drive Description of the STO safety function Changes to Operation Manuals MSD Servo Drive Nos 1 to 3 Hazard analysis and risk asses...

Page 12: ...fe SSI encoder second safe axis monitoring Sin Cos Connection configuration CC23875 001 PDF 14 MSD PLC Manual Basic Functionality and Libraries CB15237 001 PDF Table 1 1 Applicable documents continue...

Page 13: ...sponsibility for bodily injury property damage or financial losses resulting from failure to observe the information and instructions in the documentation MOOG ID No CB40859 001 Date 02 2018 MSD Servo...

Page 14: ...MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 14 1 General information...

Page 15: ...injury or damage to the machine when testing and commissioning the device To this end make sure to observe Section Safety information and warnings on page 15 as well 2 3 Safety information and warning...

Page 16: ...onal capability For the risk assessment for the complete machine or system as per EN ISO 12100 2011 formerly EN ISO 14121 2007 and EN ISO 13849 1 formerly EN 954 1 Observe the section on Electrical eq...

Page 17: ...te 02 2018 MSD Servo Drive Device Help 17 3 Initial commissioning 3 1 Initial commissioning wizard The wizard guides you through the subject areas that are relevant for the initial commissioning Corre...

Page 18: ...ally by double clicking on the pictogram see Chapter overview in Section Initial commissioning on page 17 or via Project tree Drive Settings Initial commissioning MOOG ID No CB40859 001 Date 02 2018 M...

Page 19: ...Linear motor Selection of motor system 4 Identification Measurement of electrical parameters resistance inductivity Current controller tuning Calculation of nominal flux Data set calculation Complete...

Page 20: ...t automatically Optimize the speed controller Determine mass inertia J basic settings Configure the speed filter P 0351 CON_SCALC_TF 0 6 ms Recommendation for Sin Cos encoder 0 2 ms 0 6 ms Recommendat...

Page 21: ...itions For more information refer to the user manuals for the individual bus systems 13 Saving the settings and creating a commissioning file Saving For more information on data handling see the Moog...

Page 22: ...n of the encoder and the number of pole pairs of the resolver match the number of pole pairs of the motor When it has been successfully determined a green tick check mark is displayed Determining the...

Page 23: ...log boxes MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 23 3 Initial commissioning 3 3 Motor Fig 3 5 Initial Commissioning Motor data and control settings dialog box You can click on...

Page 24: ...e Section Encoder selection on page 51 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 24 3 Initial commissioning 3 5 Control Fig 3 7 Initial Commissioning Control dialog box You can u...

Page 25: ...Device Help 25 4 Power Stage 4 1 Power stage settings Fig 4 1 AC device Power stage configuration screen The power stages of the servo drive can be operated with different voltages and switching frequ...

Page 26: ...tching to a lower or back to a higher frequency is possible depends on the device and on the currently selected operating switching frequency from parameter P 302 CON_SwitchFreq The switching frequenc...

Page 27: ...ety low voltage 24 60 V CON_VoltageMode CON_GridVoltageNom CON_ DCLinkVoltageNom V Device power supply mode Mains voltage DC link voltage DC low voltage Table 4 3 Power stage DC drives parameters ID I...

Page 28: ...001 Date 02 2018 MSD Servo Drive Device Help 28 4 Power Stage 1 Ret Power failure bridging with power return detection The system will start up again if the power returns within a configurable period...

Page 29: ...ed VFC functionality specific DC link threshold values based on the operating mode The corresponding details are described in the description for each individual mode The controller will ensure that t...

Page 30: ...e 4 2 4 Parameters P No Index Name Setting Unit Function 2940 0 CON_PowerFail Off 0 RET 1 NORET 2 NOLIM 3 VFC_NOLIM 4 RETABS 5 NORETABS 6 NORETABSPULSE 7 2941 0 A V 1 ms 2 CON_POWF_VCtrl Kr Tn imax A...

Page 31: ...lters when using PMSM motors 45 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 31 5 Motor 5 1 Motor configuration data Fig 5 1 Motor data and control settings screen Each motor can on...

Page 32: ...e control parameters are correctly set You can obtain the data sets for all standard synchronous motors On transfer of a standard motor data set the motor name electrical data and motion mode are load...

Page 33: ...current controller the current controller is dimensioned based on the actual switching frequency set Speed controller and position controller gain here a moderately stiff mechanism and mass inertia m...

Page 34: ...ance CurrentI2 472 3 Lsig_q I3 Inductance CurrentI3 472 4 CurrentI0 Current I0 relative to MOT_CNom 472 5 CurrentI1 Current I1 relative to MOT_CNom 472 6 CurrentI2 Current I2 relative to MOT_CNom 472...

Page 35: ...462 MOT_FLUXNom Calculation of current speed and position control parameters NOTE P 490 MOT_ISLinRot LIN 1 The parameter will automatically set the number of motor pole pairs to P 463 Mot_PolePairs 1...

Page 36: ...peedMax m s Motor rated speed 494 0 MOT_ForceNom N Motor rated force 496 0 MOT_MassMotor kg Mass of motor slide 497 0 MOT_MassSum kg Total mass moved by the motor 498 0 MOT_EncoderPeriod um Period of...

Page 37: ...79 MOT_TorqueSat Inductor saturation Characteristic torque Q current 479 0 Torque I0 Nm Torque current I0 479 1 Torque I1 Nm Torque current I1 479 2 Torque I2 Nm Torque current I2 479 3 Torque I3 Nm T...

Page 38: ...imensioned dependent on the switching frequency setting Speed controller and position controller gain In this a moderately rigid mechanism and a 1 1 moment of inertia adjustment from the load to the m...

Page 39: ...nductance scaling factor 476 0 MOT_Rrot Ohm Motor rotor resistance 477 0 MOT_RrotScale Motor rotor resistance scaling factor 478 0 MOT_LmagNom mH Main inductance at nominal magnetizing current Table 5...

Page 40: ...nued MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 40 5 Motor P No Index P Name Setting Unit Function PT100 5 PTC100 in line with DIN EN 60751 NTC220 6 NTC Sensor 220 kOhm 1 NTC1000...

Page 41: ...s motor I t monitoring A synchronous motor by design has lower loss than an asynchronous motor because permanent magnets replace the magnetizing current It is normally not internally cooled but discha...

Page 42: ...on based on thermal time constant i Tth Thermal time constant P 733 7 Ttherm in s The shut off threshold is 110 reduction in current noise MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device He...

Page 43: ...defaults relate to 100 of the rated quantities Calculation of capacity utilization via exponential function with thermal time constant of motor Setting of I2t type P 735 0 FREQ 0 Output frequency depe...

Page 44: ...ification dialog box for an asynchronous motor ID Index Name Unit Description 1531 0 SCD_Action_Sel Self commissioning action selection Table 5 8 Motor identification parameters When the Rating plate...

Page 45: ...N_FM_Imag Magnetizing current MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 45 5 Motor 5 7 Support for motor filters when using PMSM motors 5 7 1 General functional description In ap...

Page 46: ...r parameters LS and Psi_P as a function of stator frequency fS usd mot 2 fS LS isq ref usq mot 2 fS LS isd ref Psi_P Dynamic performance In addition to the described effect of motor filters on the cur...

Page 47: ...l voltage components before the voltage drop caused by the motor choke can be viewed using scope signals usdmot_SinFilt usqmot_SinFilt If there are no negative influences on the current control stabil...

Page 48: ...r the capacitors when using a delta configuration In order to calculate the capacitance per phase as per the circuit diagram above the device will internally multiply the value by 3 delta wye transfor...

Page 49: ...e selection Contents 50 51 53 53 56 70 6 1 Cable 6 2 Encoder selection 6 3 Encoder offset 6 4 Connections and pin assignations 6 5 Channel 1 Interface X7 6 6 Channel 2 Interface X6 6 7 Channel 3 Inter...

Page 50: ...r or one EnDat encoder and one SSI encoder 6 1 2 Encoder gearing The encoder gearing is an integral part of the encoder evaluation system Whenever for example the Ch1 encoder position is described bel...

Page 51: ...eld parameters with Index 0 single turn component and Index 1 multi turn component MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 51 6 Encoder 6 2 Encoder selection Fig 6 1 Channel se...

Page 52: ...No Index Name Unit Description 520 0 ENC_MCon Selection of encoder channel for commutation angle 521 0 ENC_SCon Selection of encoder channel for speed control 522 0 ENC_PCon Selection of encoder chan...

Page 53: ...re not aligned the commutation offset needs to be determined with the help of a wizard For the definition the motor is run in Current control mode at rated current For a correct definition it is neces...

Page 54: ...reference to PIN X6 2 2 Resolver S1 differential input reference to Pin X6 1 3 Resolver S2 differnetial input reference to Pin X6 8 4 5 12 V supply voltage internally connected to X7 3 5 PTC NTC KTY...

Page 55: ...witch 2 13 Sense Sense Sense 14 CLK CLK 15 CLK CLK 1 The total of the currents drawn at X7 3 and X6 4 must not exceed the specified value 2 After connecting pin 7 to pin 12 a voltage of 11 8 V will ap...

Page 56: ...7 to pin 12 a voltage of 11 8 V will appear at X7 pin 3 3 Observe the preceding CAUTION statement Table 6 4 Pin assignment X7 MSD Single Axis Servo Drive Compact MOOG ID No CB40859 001 Date 02 2018 M...

Page 57: ...Encoder gearing on page 87 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 57 6 Encoder Signal correction GPOC GPOC is a special Moog online process for improving the quality of Sin C...

Page 58: ...itialized as negative in this case the point of discontinuity will be found at 1 2max this can be changed with MTBase When MTBase 0 the absolute value initialization will for example start up with zer...

Page 59: ...ive Device Help 59 6 Encoder will be read During the initialization process the system will read the encoder to determine which valuation numbers it supports When P 640 0 ENDAT_Select 1 the function w...

Page 60: ...TE The operation and configuration of Hall effect sensors is reserved for special applications Consult with Moog if needed MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 60 6 Encoder...

Page 61: ...e must be disabled during normal operation P 541 0 0 Commutation Motor operation with pure incremental encoders needs for the auto commutation function to be enabled without fail For details see Secti...

Page 62: ...ommutation 1 x North North corresponds to MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 62 6 Encoder one revolution from Lines In this case the motor pole pair number must be set to...

Page 63: ...ssible to use multi turn encoders as MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 63 6 Encoder single turn encoders for test purposes Negative logic Default MTEnable 0 means MultiTu...

Page 64: ...f the digital and analog components this is the default mode MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 64 6 Encoder o DIG 1 Digital Only the digital component will be used for th...

Page 65: ...firmware In the case of linear encoder types the corresponding parameters will be PeriodLen and DigitalResolution MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 65 6 Encoder HIPERFACE...

Page 66: ...al_4 Interface additional information 4 552 14 Additional_5 Interface additional information 5 552 15 Bytes_of_last_protocol highbyte to encoder lowbyte from encoder 552 16 Bytes_of_last_protocol 552...

Page 67: ...here The bit monitoring at this point makes it possible to determine whether the SSI data lines are being actively driven with a logic 0 at this point no wire break or are not wire break SSI wire brea...

Page 68: ...e terms in the table below stand for o Data Sequence of all data bits o EncObs Wire break bit o Nothing No bit o POdd Odd parity bit o PEven Even parity bit o Free A free bit MOOG ID No CB40859 001 Da...

Page 69: ...l 3 Table 6 14 Parameters for encoder gearing MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 69 6 Encoder Parameters P 500 0 ENC_CH1_ActVal 0 SingleTurn and P 500 1 ENC_CH1_ActVal 1 M...

Page 70: ...nsformation phase shift Transformation ratio of approx 0 5 GPOC is a special Moog real time process that is used to improve the quality of Sin Cos signals before they are used to calculate a position...

Page 71: ...ables P 566 0 ENC_CH2_Amplitude can be used to subsequently increase these amplitudes up to a maximum of 10 5 so that there will be a magnitude level of 80 85 for track signals This is achieved by adj...

Page 72: ...ENC_CH1_CorrVal 5 Set P 549 0 ENC_CH1_Corr to CORR 1 Correction with saved values 6 Save in the device Table 6 16 Configuring and activating GPOC NOTE The routine can also be kept enabled permanently...

Page 73: ...In the case of encoder channel Ch2 it is assumed that the resolver will always be used as a commutation encoder on the motor shaft Because of this the numerator adjustment range is limited to a value...

Page 74: ...sion 1 or higher SW version 1 10 or higher Specification ID No CB32164 001 4 SSI encoder simulation G392 3 5 7 X Not available Specification ID No CB08760 001 5 TTL encoder with commutation signals G3...

Page 75: ...P 507 ENC_CH3_Sel If an impermissible combination is selected this will be indicated by means of error messages during the initialization phase No Technology option name Hardware ID Selection 0 No mod...

Page 76: ...oder with a purely digital EnDat or SSI interface can be used on connector X8 or X7 If two EnDat encoders are used and one of them is purely digital it is necessary to ensure that the purely digital e...

Page 77: ...n this button will open a menu that can be used to select encoders The data sets for Moog encoders will already be available there by default Encoder name You can use this field to enter your own info...

Page 78: ...able 6 20 Main parameters for encoder channel Ch3 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 78 6 Encoder P 577 0 ENC_CH3_EncObsMin If you set EncObsMin to 0 Sin Cos wire break mo...

Page 79: ...s Error and status codes absolute encoder 582 0 ENC_CH3_PeriodLen nm Length of signal period Sin Cos linear encoder Table 6 21 Encoder configuration channel 3 X8 parameters MOOG ID No CB40859 001 Date...

Page 80: ...Ch1 encoder channel parameters see Section EnDat cyclical X7 on page 58 The software versions required to run the EnDat interface are the standard software versions for the MSD Servo Drive and MSD Si...

Page 81: ...racks reverse counting X4 encoding AB_inv MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 81 6 Encoder 2 ABDFN A Clock falling edge B Direction 1 positive PulseDir 3 ABDRP A Clock risi...

Page 82: ...ers apply However there are the following differences MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 82 6 Encoder a There are no different signal types for the Sin Cos signal always 1...

Page 83: ...coder absolute value initialization that is the multi turn basis Assuming a bipolar encoder measuring range all position values that fall below MTBase will be shifted up the whole MT range will be add...

Page 84: ...s pulses per revolution and 36 distance coded reference marks you would need to set NominalIncrementA to 1000 signal periods and NominalIncrementB to 1001 signal periods This functionality is enabled...

Page 85: ...aces Moog supports this version first and foremost The following table lists the parameters for cyclical SSI operation on encoder channel Ch3 It also points out possible differences between the use of...

Page 86: ...ute encoder 575 0 ENC_CH3_Code Code selection SSI absolute encoder 576 0 ENC_CH3_Mode Mode selection SSI absolute encoder 584 0 ENC_CH3_MTBase Minimum MultiTurn position SSI absolute encoder 585 0 ENC...

Page 87: ...ce Help 87 6 Encoder In the case of encoder channel Ch2 it is assumed that the resolver will always be used as a commutation encoder on the motor shaft Because of this the numerator adjustment range i...

Page 88: ...er is not the motor commutation encoder instead it is an additional encoder in the field e g used for position control purposes In motor mode the encoder gearing is used exclusively to synchronize the...

Page 89: ...d without configuring the test signal generator 5 STOP _KAL Stop encoder module CH4 6 CALC_RQ Calculates noise covariance matrices R and Q based on the configured motor parameters Table 6 28 ENC_CH4_C...

Page 90: ...n Table 6 29 Sensorless synchronous motor control parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 90 6 Encoder 6 8 1 1 Auto commutation When using sensorless contro...

Page 91: ...nal amplitudes has been implemented This ensures that the signal can be applied gradually over a specified speed range The speed ranges in which the test signal will be applied fully P 792 7 Full sign...

Page 92: ...angular derivative is used for normal speed control The angular change describes the difference between two predicted angular positions from consecutive sampling steps Dividing eps_diff by the observe...

Page 93: ...ontrol circuit motors with a marked saliency can be operated in a sensorless manner even without a test signal 6 8 1 4 Commissioning The first step in commissioning sensorless control is to correctly...

Page 94: ...o Drive Device Help 94 6 Encoder Step Action 1 Configure noise covariance matrices Q and R This should be done automatically by setting the control parameter for encoder channel 4 P 783 0 ENC CH4 Ctrl...

Page 95: ...used to calculate the position difference between encoderless control and a real encoder can be activated To use this function the encoder channel that will be used for the comparison must be selecte...

Page 96: ...oder and a redundant encoder To do this the channel of the redundant position encoder must be specified in P 524 0 ENC_EncRedPos and the maximum position tracking error must be specified in increments...

Page 97: ...tion is determined on the drive side Possible cause of deviations Inaccuracy of the measuring system Slack in mechanical elements such as the gearing coupling feed spindle etc Thermal expansion of mac...

Page 98: ...r 3 Selection of the encoder whose actual position value is to be changed with P 590 ENC_ACOR_Sel 4 Enter interpolation point pitch in P 593 ENC_ACOR_PosDelta 5 The correction values are determined us...

Page 99: ...of the standstill window in the positive or negative direction MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 99 6 Encoder Correction factor 1 2 3 4 5 6 7 Interpolation point distance...

Page 100: ...or high track Sin Cos encoders is not permitted ID Index Name Unit Description 1956 CON_ACT_Ovrs Encoder signal oversampling This function applies only to resolver and Sin Cos signals 1956 0 active Sw...

Page 101: ...e mark is assigned to precisely one measuring step Before an absolute reference can be created or the last selected reference point found the reference mark must be passed over In the worst case scena...

Page 102: ...ment A Legend to Schematic view of circular graduations with increment coded reference marks MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 102 6 Encoder Fig 6 14 Schematic diagram of...

Page 103: ...nel 1 and P 584 0 ENC_CH3_ for encoder channel 3 unit increments For more information see Section Main parameters for encoder channel Ch1 on page 57 and Section Sin Cos incremental encoder with absolu...

Page 104: ...Bear in mind that the pulse width of the scope signal does not match the pulse width of the actual zero pulse Fig 6 16 Zero pulse recording via measurement variable CH1 3_Np NOTE When in zero pulse t...

Page 105: ...on 144 7 9 V Hzmode 153 7 10 Process controller 154 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 105 7 Control 7 1 Control structure overview M 3 E1 E2 E3 P0386 P 0329 P 0374 P 0376...

Page 106: ...tor inertia If using third party motors a manual setting must be made for the drive by way of the motor identification or by calculation in order to define the appropriate control parameters for the m...

Page 107: ...2018 MSD Servo Drive Device Help 107 7 Control CAUTION Your system motor may be damaged if put into operation in an uncontrolled or inadequate manner Failure to exercise caution or follow proper worki...

Page 108: ...d in percent in the wizard The setting 100 reduces the dynamic performance of the controller setting e g for a toothed belt drive The setting 100 increases the dynamic performance of the controller se...

Page 109: ...ered as the configured setpoint will be immediately transmitted to the motor after the motor control function starts which may result in the motor accelerating unexpectedly MOOG ID No CB40859 001 Date...

Page 110: ...hes the setpoint the more dynamically the controller is set The overshoot of the actual value should not be more than 5 10 of the setpoint general figure during the settling process The first step sta...

Page 111: ...gs This produces an initial estimate of the control quality To determine the transfer function the noise amplitude motor rated current and the sampling time default 0 125 ms must be specified Click th...

Page 112: ...sd and isq can be visualized with scope signals 25 and 26 The unfiltered values can be visualized using scope signals isd_unfil 129 and isq_unfil 130 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Driv...

Page 113: ...ion is complete the parameter P 385 0 automatically jumps back to P 385 0 CON_ TCoggTeachCon READY 0 The teaching and calculation are thus finished The position source used by the teaching has been st...

Page 114: ...of the 32 bit input position has fixed mapping over the entire width of the table recurring infinite Table index inpos inc 2 32 inc tabsize with tabsize 250 or 4000 Input reference variable via delta...

Page 115: ...rameter P 440 0 CON_TAB_TabIndex Value Reading and writing using parameter P 441 0 CON_TAB_TabVal Saving takes place in conjunction with the saving of the parameter record in the device s mass memory...

Page 116: ...PSPOS big CompTab access via 440 and 441 Table 7 2 Settings for teaching calculating and compensation continue __ 385 CON_TCoggTeachCon 10 TeachPosEncRed Teach posact from redundant encoder Actual pos...

Page 117: ...detent torque compensation The following table shows the procedure for detent torque compensation No Action 1 Open manual mode window 2 Speed control mode control setting set high rigidity for smooth...

Page 118: ...used by the teaching is also saved here It will later be used for the compensation once again in exactly the same manner Table 7 4 Overall procedure for detent torque compensation 7 3 4 3 1 Scope rec...

Page 119: ...unction once P 385 0 CON_TCoggTeachCon 3 CALC1 This imports all values into the compensation table P 380 CON_ TCoggAddTab small table with 250 elements 8 Stop control 9 Start the compensation P 382 0...

Page 120: ...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...

Page 121: ...e to monitor IsqRef_Comp 7 3 4 7 Compensation as a function of the electrical angle EPSRS big table Teaching routine and compensation big CompTab 4000 Incremental rotary recurring position Without off...

Page 122: ...s Adaptation of torque control Saturation characteristic see Section Adaptation of torque control on page 122 Observer system see Section Observer on page 124 Overmodulation see Section Overmodulation...

Page 123: ...2 Fig 7 17 Diagram Scaling of q inductance L in P 472 0 3 Lsig_q Ix Scaling of q stator inductance in interpolation points 0 to 3 P 472 4 7 MOT_CurrentIx Scaling of rated current in interpolation poi...

Page 124: ...lable disturbances To nevertheless optimize the adaptation to the machine mechanism a technique based on a state observer is available NOTE Please contact Moog before configuring the observer ID Index...

Page 125: ...at 16 kHz switching frequency up to approximately 3000 Hz The P gain CCON_Kp is calculated according to the amount optimum The integral action time CCON_Tn is interpolated between the amount optimum a...

Page 126: ...ncoder wiring Motorid enc offset and inertia detection motor phase check Identification of whole inertia Cancel the current action Bandwidth preset for torque control loop Range 10 4000 Hz Table 7 9 T...

Page 127: ...n No Action 1 Adapt the speed controller gain to the existing external mass inertia For this either the known moment of inertia from the motor data can be used directly or the automatic mass inertia d...

Page 128: ...ptive Notch filter Control word Adaptive Notch filter Frequencies Adaptive Notch filter Frequency Adaptive Notch filter Coefficient 1552 2 Hz 1552 3 Hz 1552 4 SCD_NotchMinFreq SCD_NotchMaxFreq SCD_Not...

Page 129: ...of gain at low speeds 7 4 1 3 Quick stop without sensor In the event of a wire break on the encoder system the drive is shut down in sensorless mode on the preset quick stop ramp see Section Error re...

Page 130: ...352 3 352 4 352 5 352 6 352 7 352 8 CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara CON_SCALC_ObsPara T...

Page 131: ...ital filter dialog box Bode diagrams PT1 to PT4 Bode plots for band stop filters notch filters Table 7 12 Filter Bode plots No Action 1 Scope setting isq unfiltered torque forming current Set shortest...

Page 132: ...fficients of digital filter b0 x k 327 1 327 2 327 3 327 4 327 5 327 6 327 7 327 8 FilterPara b0 FilterPara b1 FilterPara b2 FilterPara b3 FilterPara b4 FilterPara a1 FilterPara a2 FilterPara a3 Filte...

Page 133: ...e approaches the setpoint the more dynamically the controller is set The overshoot of the actual value should not be more than 5 10 of the setpoint general figure during the settling process Table 7 1...

Page 134: ...e amount Y axis left absolute value of nact ndiff Blue curve phase response Y axis right Phase response nact ndiff Legend for Speed controller transfer function ID Index Name Unit Description 401 0 CO...

Page 135: ...RO_FG_UsrRefPos MPRO_FG_UsrPosDiff CON_PConTS CON_PCON_Kp 1 min Actual position in user units reference position in user units position tracking error in user units Position control sampling time Posi...

Page 136: ...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_TFric...

Page 137: ...ue 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_TF...

Page 138: ...d motor data and the magnetizing current presetting in P 340 0 CON_FM_Imag For field weakening when using an asynchronous motor a characteristic curve is always internally calculated independently of...

Page 139: ...ontroller will be a PI controller with gain P 345 0 CON_FM_VConKp and reset time P 346 09 CON_FM_VConTn In addition the measured DC link voltage can be smoothed with a P 344 0 CON_FM_VConTF PT1 filter...

Page 140: ...or IPMSM parameters 7 6 4 Field weakening of asynchronous motor voltage controller The voltage controller is superimposed onto the selected characteristic curve When the voltage controller is used a p...

Page 141: ...e even at rated current This must be taken into consideration when configuring the motor CNom Lsig Factor FluxNom A value greater than 0 2 is recommended for Factor MOOG ID No CB40859 001 Date 02 2018...

Page 142: ...Servo Drive Device Help 142 7 Control 7 7 2 Variant 2 Calc When there are very fast speed or load changes in the field weakening range P 435 0 CON_FM_FwMode needs to be set to 2 When this is done a ch...

Page 143: ...vailable voltage etc can be compensated for with P 436 0 CON_FW_ SpeedScale REL 3 Isd for reluctance model for synchronous motor Table 7 26 Parameters for selecting field weakening continue CAUTION Yo...

Page 144: ...permanently excited synchronous motors with a purely incremental measuring system the commutation position must be determined once when the control is started adjustment of current rotor position to...

Page 145: ...ent 366 0 CON_ICOM_RefSpeed rpm commutation detection scaling of control gain 390 0 CON_ICOM Auto commutation Control word for selection Off 0 Function disabled IENCC 1 Current injection LHMES 2 Satur...

Page 146: ...able to use the rated current Irated The time should be set so that the rotor is at rest during the measurement For control purposes the commutation process can be recorded with the Scope function NOT...

Page 147: ...f the value is 0 the amplitude is derived from the motor rated current If an amplitude greater than the switching frequency dependent power stage current is specified the amplitude is limited to half...

Page 148: ...able 7 28 LHMES configuration example NOTE It is advisable to connect speed tracking error monitoring with the Power stage off error reaction see Section Error reactions on page 266 This monitoring fe...

Page 149: ...control This function is independent of the control mode and has a direct effect on the control Signal types can also be combined The delta signal form is additionally available though at present it...

Page 150: ...l generator deactivated Stop 1 Stop test signal Start 2 Start test signal STOP Cycle 3 TG stops at end of current square cycle Stop Zero 4 TG stops next time reference value passes through zero 1501 S...

Page 151: ...e t1 1 Time t2 Table 7 29 Parameters of test signal generator for square and sine signal continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 151 7 Control ID Parameter Setting Fun...

Page 152: ...BreakTime Break time 0 Break ms before signal cycle 1 Break ms between positive and negative signal cycle segment 1512 SCD_TSIG_ SymVal Symmetry value for delta signal Table 7 29 Parameters of test si...

Page 153: ...Boost at 0 Hertz Starting from the rated frequency P 314 0 CON_VFC_FNom the output voltage will remain constant at P 315 0 CON_VFC_VNom This means that an asynchronous motor will automatically be driv...

Page 154: ...e is changed with a control word The process controller state is indicated with a status word The process controller s integral term can be reduced in a targeted manner with a control command MOOG ID...

Page 155: ...controller s deviation is less than 50 of the configured Reference value attained window 7 10 2 2 Reference values The process control circuit setpoint can be selected via pre defined setpoint source...

Page 156: ...59 001 Date 02 2018 MSD Servo Drive Device Help 156 7 Control Setting Name Description 11 SPEED Speed in user units 12 POS Position in user units 13 P2981 Mappable parameter P 2981 14 P2982 Mappable p...

Page 157: ...UTVAL can be mapped to various internal drive setpoint or feed forward control values The selection is made via P 2672 0 CON_PRC_OUTSEL MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help...

Page 158: ...158 7 Control 7 10 4 Parameters ID Index Name Unit Description 2659 0 CON_PRC_Kp Process control gain 2660 0 CON_PRC_KP_SCALE Process control gain scaling factor 2661 0 CON_PRC_Tn ms Process control i...

Page 159: ...75 0 CON_PRC_Cdiff_ Control difference of the process controller 2666 0 CON_PRC_RefVal Scaled process controller reference 2673 0 CON_PRC_Raw_ActVal Actual value of the selected actual value source 26...

Page 160: ...ings 161 162 180 187 189 203 205 212 215 217 218 8 2 Scaling units 8 3 Basic settings 8 4 Stop ramps 8 5 Homing 8 6 Jog mode 8 7 Setpoint table 8 8 Analog channel ISA00 and ISA01 8 9 State machine 8 1...

Page 161: ...tion profile Standardization profile Standard CiA 402 SERCOS User defined Settings used to configure the control and setpoint channels Control Reference Profile Interpolation Limitation Reference filt...

Page 162: ...tion Wizard used to select a standardization profile will appear Fig 8 2 Standardization profile selection screen The wizard helps ensure that the application s physical data will match the servo driv...

Page 163: ...ered using exponent syntax MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 163 8 Motion profile Fig 8 4 Standardization profile Standard CiA 402 Direction of rotation dialog box Referr...

Page 164: ...o the output side revolution Gear ratio if available Ratio of one motor revolution before the gearing to the number of revolutions on the gear output side The values for the gear ratio are entered in...

Page 165: ...osEncRes 608FH DS402 position encoder resolution 2252 0 MPRO_402_ PosEncRes incr Encoder increments 2252 1 MPRO_402_ PosEncRes rev Motor revolution 2253 MPRO_402_VelEncRes 6090H DS402 velocity encoder...

Page 166: ...option Example of a revolution with a circumferential length of 360 setting Direction of rotation left right The circumferential length is set to 360 In positive direction after reaching 360 the actua...

Page 167: ...he drive moves to the target position within 360 Target position circumference 120 120 The drive remains in position Target position circumference 600 360 240 The drive moves to the position within th...

Page 168: ...8 2 2 SERCOS When using the SERCOS profile scaling of the units is termed weighting The weighting describes the physical unit and the exponent with which the numerical values of the parameters exchang...

Page 169: ...load gear 10122 0 COM_SER_ GearRatioDenom Output revolutions of load gear 10123 0 COM_SER_FeedConst um rev Feed constant 10160 0 COM_SER_ ScaleTypAcc Acceleration data scaling type 10161 0 COM_SER_ Sc...

Page 170: ...onal weighting Parameter weighting Fig 8 13 Position data weighting method Position polarity The polarity of the position data can be inverted according to the application An increasing actual positio...

Page 171: ...weighting LSB Degrees 3 600 000 0 0001 m Table 8 7 Weighting for rotary motion default setting MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 171 8 Motion profile 8 2 2 2 Speed Fig 8...

Page 172: ...ng here Speed polarity The polarity of the speed data can be inverted according to the application A positive speed reference indicates clockwise rotation looking at the motor shaft MOOG ID No CB40859...

Page 173: ...Degrees 3 600 000 0 001 m min Table 8 9 Weighting for rotary motion default setting MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 173 8 Motion profile 8 2 2 3 Unit of torque power F...

Page 174: ...motor is used as the reference value All torque force data is given in with one decimal place Torque polarity The polarity of the torque can be inverted according to the application A positive torque...

Page 175: ...ighting LSB Nm 1 0 01 Nm LSB Unit Exponent Table 8 11 Weighting for rotary motion default setting MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 175 8 Motion profile 8 2 2 4 Unit of a...

Page 176: ...ration is scaled using the SERCOS wizard A distinction must be made between linear and rotary weighting here MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 176 8 Motion profile Fig 8...

Page 177: ...P 0271 MPRO_FG_Num P 0272 MPRO_FG_Den P 0273 MPRO_FG_Reverse Speed rev min P 0274 MPRO_FG_SpeedFac Speed Speed Unit Control command Control Acc rev s P 0275 MPRO_FG_AccFac Acceleration Acc Unit x y x...

Page 178: ...corresponds to 360 or 1048576 increments Speed in rpm Acceleration in rpm s Positioning in degrees Given Position unit P 0284 MPRO_FG_PosUnit m Speed unit P 0287 MPRO_FG_SpeedUnit m s MOOG ID No CB408...

Page 179: ...ry system 270 MPRO_FG_PosNom Increments per revolution 1048576 incr rev 271 MPRO_FG_Nom Numerator 1 rev 272 MPRO_FG_Den Denominator 32000 m Table 8 16 Parameters for user defined scaling linear system...

Page 180: ...Config of specific profiling behaviour 301 0 CON_REF_Mode Mode selection of setpoint profiling 306 0 CON_IpRefTS ms Sampling time for interpolation 335 0 CON_SCON_DirLock Direction lock for speed ref...

Page 181: ...s smoothing filter homing MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 181 8 Motion profile Fig 8 26 Speed control in PG mode smoothing 8 3 2 PG mode with position control Travel co...

Page 182: ...t scaling of units are selected for the speed reference before the reference is passed via the interpolator to the control Linear interpolation is always applied in this process MOOG ID No CB40859 001...

Page 183: ...Reference Source P 0165 OFF 0 ANA0 1 ANA0 2 Tab 3 leer 4 PLC 5 PARA 6 CiA DS402 7 SERCOS 8 PROFIBUS 9 Varan 10 Normilazation DS402 SERCOS User defined IP Method NoIP 0 Off linear IP SplineExtFF 2 IP...

Page 184: ...ng ramp 0 so the jerk is maximum red curve MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 184 8 Motion profile Fig 8 31 Maximum jerk Red Actual speed Grey Actual position The accelera...

Page 185: ...ding on the functions chosen a different interpolant is obtained Interpolation is a type of approximation The function under analysis is precisely reproduced by the interpolation function at the inter...

Page 186: ...e usual term used is spline interpolation In the case of sectionally defined interpolants the question of consistency and differentiation at the interpolation points is of major importance 8 3 6 3 MSD...

Page 187: ...lues to the corresponding reserved parameters in the relevant bus system All decelerations should be disabled in the controller P 375 0 CON_IP_SFFScale and P 376 CON_IP_TFFScale must be used to perfor...

Page 188: ...ramp The Quickstop function brakes an ongoing movement differently from the normal braking ramp The servo drive is in the Quickstop system state This state can be quit during or after braking dependin...

Page 189: ...acceleration and the maximum positioning range MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 189 8 Motion profile Fig 8 38 Selection method selection Selection of homing methods 12 t...

Page 190: ...Degree Homing Maximum travel homing to block Block detection 170 0 MPRO_REF_ HOMING_Ctrl Homing method Controlword 171 0 MPRO_REF_ HOMING_BackupPos mDegree Homing Backup position 225 0 MPRO_REF_ HOMIN...

Page 191: ...minates the need to determine the encoder s absolute position at the machine zero point and back calculate the actual position Fig 8 39 Set the machine homing point MOOG ID No CB40859 001 Date 02 2018...

Page 192: ...the direction of rotation until a zero pulse is detected The first zero pulse after reversing direction corresponds to the zero point An offset can be programmed in the dialog box Fig 8 41 Moving to b...

Page 193: ...detected When the block is detected the system disengages by half the value in parameter P 0169 MPRO_REF_HOMING_MaxDistance and the zero point is defined An offset can be programmed in the dialog box...

Page 194: ...ower stage is first switched on Homing completed is set as the status This method is suitable for absolute encoders provided that no offset compensation is required For an offset compensation please s...

Page 195: ...e direction of movement reverses on an active edge from the reference mark The first zero pulse after a falling edge from the reference mark is the zero point homing point Fig 8 47 Start condition for...

Page 196: ...ce mark is inactive The first zero pulse after a falling edge from the reference mark is the zero point homing point The direction of movement reverses on an active edge from the reference mark Start...

Page 197: ...e first zero pulse after the falling edge The start movement is in the direction of the negative left hardware limit switch The homing point is set at the first zero pulse after a falling edge from th...

Page 198: ...will change when the reference mark becomes inactive 8 5 10 4 Method 10 Once the reference mark has been passed the first zero pulse after the falling edge is the zero point MOOG ID No CB40859 001 Da...

Page 199: ...s to the first zero pulse after a rising edge from the reference mark Reversal of direction of movement when the reference mark has been passed The zero point corresponds to the first zero pulse after...

Page 200: ...ovement after active reference mark The zero point corresponds to the first zero pulse after the falling edge Fig 8 58 Zero point corresponds to first zero pulse after MOOG ID No CB40859 001 Date 02 2...

Page 201: ...are equivalent to methods 1 to 14 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 201 8 Motion profile Method 1 corresponds to method 17 The determination of the homing point is indep...

Page 202: ...otion profile 8 5 15 Methods 33 and 34 With zero pulse 8 5 15 1 Method 33 Leftward travel direction The zero pulse corresponds to the first zero pulse to the left Fig 8 60 Homing with zero pulse 8 5 1...

Page 203: ...e The unit corresponds to the selected user unit Two speeds are available for both directions If the drive is to be moved at different speeds both inputs must be active relevant bits in bus operation...

Page 204: ...right input and then additionally input two 8 6 2 Digital inputs Fig 8 64 Digital inputs screen MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 204 8 Motion profile 8 6 3 Manual mode...

Page 205: ...rameter 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...

Page 206: ...fined In Infinite positioning mode the speed can be specified signed It is limited by P 328 0 CON_SCON_SMax for details see Section Speed velocity limits on page 253 Mode If the servo drive is run wit...

Page 207: ...MPRO_TAB_SAcc for speed control or P 199 MPRO_TAB_PAcc for position control and indexes 0 15 the accelerations for moving to the setpoint for each individual driving job can be defined The input must...

Page 208: ...eleration 193 0 MPRO_TAB_TAcc Nm ms 193 1 MPRO_TAB_TAcc Nm ms 193 2 MPRO_TAB_TAcc Nm ms 193 3 MPRO_TAB_TAcc Nm ms 193 4 MPRO_TAB_TAcc Nm ms Table 8 24 Setpoint table settings parameters MOOG ID No CB4...

Page 209: ...n s Table 8 24 Setpoint table settings parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 209 8 Motion profile ID Index Name Unit Description 197 3 MPRO_TAB_SDec rev m...

Page 210: ...PSpd Position control table Speed 201 0 MPRO_TAB_PSpd rev min Table 8 24 Setpoint table settings parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 210 8 Motion profil...

Page 211: ...O_TAB_WaitTime ms 204 13 MPRO_TAB_WaitTime ms 204 14 MPRO_TAB_WaitTime ms 204 15 MPRO_TAB_WaitTime ms Table 8 24 Setpoint table settings parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Ser...

Page 212: ...que which position corresponds to the maximum analog value Depending on the control mode being used see Section Basic settings on page 107 the value will be stored in parameter index 0 torque control...

Page 213: ...erate a run on range centred on the last setpoint A ramp function will calculate a motion profile for the position setpoint based on pre defined acceleration and speed limits The position references o...

Page 214: ...log channel ISA00 parameters MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 214 8 Motion profile ID Index Name Unit Description 174 1 MPRO_ANA0_SOffset rev min ANA0 offsets for speed...

Page 215: ...ystem state of the drive is basically managed by the central state machine according to CiA 402 However the transitions and states which the state machine passes through are dependent on the drive pro...

Page 216: ...em states indicated on the display may differ from the states in the table depending on the drive profile setting MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 216 8 Motion profile S...

Page 217: ...BOTH 3 Both edges 240 0 MPRO_TP_Ctrl 240 1 MPRO_TP_Ctrl 240 2 MPRO_TP_Ctrl 241 MPRO_TP_Position Probe Pos high low edge of TP0 1 encoder zero pulse Table 8 29 Touch probe parameters MOOG ID No CB4085...

Page 218: ...chronized motion The Synchronized Movement function enables synchronous running of the drive in relation to a real or virtual master axis Digital control signals are used to provide positionally preci...

Page 219: ...02 2018 MSD Servo Drive Device Help 219 8 Motion profile 8 11 1 Electronic camming 8 11 1 1 Table selection ID Index Name Unit Description 1300 0 MPRO_ECAM_CTS_ MasterRef ECAM CamTableSelect Master r...

Page 220: ...6 0 to 63 MPRO_ECAM_ SegData_ControlWord ECAM Segment control word Table 8 33 Electronic camming Table segments parameters MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 220 8 Motion...

Page 221: ...Out 30 Start Egear MCB_GearIn 31 Stop Egear MCB_GearOut Table 8 35 Control word ECAM P 1318 0 MPRO_ECAM_ControlWord MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 221 8 Motion profile...

Page 222: ...r level controller is being used as MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 222 8 Motion profile the master encoder you will need to set the resolution relative to a single mot...

Page 223: ...d direction MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 223 8 Motion profile Slave only starts moving along with it again as soon as the master reaches the zero position Example As...

Page 224: ...RO_ECAM_ ParaMaster_ActAcc rpm s ECAM EGEAR Parameter interface master acceleration 250 0 MPRO_ECAM_ ParaMaster_Amplitude ECAM EGEAR Parameter interface master amplitude Table 8 37 Synchronized motion...

Page 225: ...ator Scalingofspeedpre control Defined with P265 0 MPRO_ECAM_CamSlave_SpeedFactor Scalingoftorquepre control Defined with P266 0 MPRO_ECAM_CamSlave_TorqueFactor Engagement See Section Engagement on pa...

Page 226: ...sition is ignored There always remains a variation between reference and actual position P 257 0 see below is MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 226 8 Motion profile used...

Page 227: ...no ramps RAMP 1 Linear speed ramp Disengagement with linear deceleration With jerking P 256 0 see below MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 227 8 Motion profile can be used...

Page 228: ...arOutJerk rpm s 2 EGEAR GearOut Jerk of gear mode ramp Table 8 40 Synchronized motion Electronic gearing Disengagement para meters MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 228 8...

Page 229: ...master Control word 1408 0 MPRO_CMST_ StatusWord Common master Status word 1409 MPRO_CMST_Para Data of common master 1409 0 Source Source of value processing 1409 1 Destination Destination of value p...

Page 230: ...MPRO_DATA_Upper Reference upper limit value 2924 0 MPRO_DATA_Lower Reference lower limit value 2925 0 MPRO_DATA_Ref Reference value 2926 0 MPRO_DATA_Signal Signal selection 2927 0 MPRO_DATA_ActIdx Ac...

Page 231: ...rvo Drive Device Help 231 9 Input Output settings 9 1 Input Output settings Fig 9 1 Inputs Outputs settings dialog box The buttons on this screen can be used to access and configure the individual inp...

Page 232: ...t overlap with the digital outputs functionality Moreover analog outputs are only available when using X8 option modules The motor brake output is a digital output with special hardware for driving a...

Page 233: ...elp 233 9 Input Output settings The touch probe function is only available at ISD05 P 106 0 MPRO_ INPUT_FS_ISD05 and ISD06 P 107 0 MPRO_INPUT_FS_ISD06 All inputs can be switched from active high to ac...

Page 234: ...ing Unit Description HOMST 9 Start homing according to the homing method parameterized in P 02261 MPRO_402_Homing Method HOMSW 10 Homing switch to determine the zero for positioning E_EXT 11 External...

Page 235: ...ntroller Table 9 2 Function selectors Digital inputs continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 235 9 Input Output settings 9 2 3 Hardware enable power stage MSD Servo Dr...

Page 236: ...ENPO 0 ISD00 05 1 6 SH 7 ISD06 16 Table 9 4 Digital virtual inputs parameters 9 2 5 Status of digital inputs Clicking on the Status of digital inputs field on the input screen for the digital inputs...

Page 237: ...RO_REF_Sel_MAN Selection of motion profile OFF 0 No profile selected ANA0 1 Reference value of analog input ISA0 ANA1 2 Reference value of analog input ISA1 TAB 3 Reference from table PLC_BASIC 4 Prof...

Page 238: ...output Certain functions will only be available with specific function packages Depending on the configured function the Options button may become enabled If it is this button can be used to switch to...

Page 239: ...n selectors MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 239 9 Input Output settings ID Index Name Setting Unit Description ROT_0 11 Motor in standstill window depending on actual v...

Page 240: ...ital outputs function selectors continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 240 9 Input Output settings ID Index Name Setting Unit Description 69 Not defined 70 Not define...

Page 241: ...1 Function of digital output RELOUT1 127 0 MPRO_OUTPUT_FS_ RELOUT2 Function of dig output RELOUT2 is fixed at Safety Hold 142 0 MPRO_OUTPUT_INV Output inv OSD0 2 0 2 MBRK 6 REL1 2 7 15 OED0 7 16 23 Ta...

Page 242: ...s interrupted with HALT the Reference reached message is not sent in this phase The message only appears after the actual target position has been reached 9 3 7 Switching with motor contactor Switchin...

Page 243: ...a function to each analog standard input P 109 0 MPRO_INPUT_FS_ISA00 and P 110 0 MPRO_ INPUT_FS_ISA01 Certain functions will only be available with specific function packages Depending on the configur...

Page 244: ...428 0 ISA00 V Voltage offset for input ISA00 428 1 ISA01 V Voltage offset for input ISA01 429 CON_ANA_Gain Analog inputs Gain scaling Table 9 11 Analog inputs parameters MOOG ID No CB40859 001 Date 02...

Page 245: ...ce Help 245 9 Input Output settings ID Index Name Setting Unit Description 31 Not defined 32 Not defined 33 Not defined JOG_EXT_POS 34 Jog Positive extended mode JOG_EXT_NEG 35 Jog Negative extended m...

Page 246: ...s are and Resulting in a gain of G 0 5 and an offset of O 5 V 9 4 4 Profile mode and analog inputs Parameter P 301 0 CON_REF_Mode determines whether the reference values are processed via the profile...

Page 247: ...n be configured using P 30 52 Reac_Ana see Section Error reactions on page 266 ID Index Name Unit Description 399 CON_ANA_WireBrk_Th Analog inputs Wire beak detection limits 399 0 ISA00 V Cable break...

Page 248: ...output Fig 9 11 Motor brake settings dialog box NOTE On the MSD Single Axis Servo Drive Compact the motor brake output for frame sizes 2 to 5 will be found on connector X13 On the MSD Servo Drive Sing...

Page 249: ...13 748 0 MON_MotorBrkGuard Motor brake guarding Table 9 15 Motor brake output parameters MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 249 9 Input Output settings 9 6 1 Motor brake d...

Page 250: ...constant 219 0 MPRO_BRK_LastTorq Nm Motor brake Stored Torque 220 0 MPRO_BRK_Lock lock brake Table 9 16 Motor brake details parameters continue NOTE If it is necessary to use a holding brake observe t...

Page 251: ...ts thresholds 10 1 Settings Fig 10 1 Limitations and thresholds screen To protect the device the motor and the complete plant it is necessary to limit the variables torque speed and position These lim...

Page 252: ...ow Table 10 1 Limits thresholds parameters MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 252 10 Limits thresholds 10 2 Torque force limits The torque is limited to a maximum by P 329...

Page 253: ...N_SCON_SMaxScale Scaling of motor speed limit 740 0 MON_SpeedThresh rpm Monitoring speed threshold 744 0 MON_SDiffMax rpm Speed tracking error Table 10 3 Limits thresholds Speed limits parameters MOOG...

Page 254: ...254 10 Limits thresholds 10 5 Power Stage If the DC link voltage value falls below the value set in P 747 0 MON_PF_ OnLimit error ERR 34 Power failure detected will be signalled and the configured err...

Page 255: ...status The status for the most important warnings can be checked with The Warnings pictogram on the quick launch toolbar Project tree Drive Settings Alarms warnings Warning status A visual representa...

Page 256: ...No Meaning 0 I2xt integrator motor warning threshold exceeded 1 Heat sink temperature 2 Motor temperature 3 Interior temperature 4 Reserved for SERCOS 5 Excessive speed 6 Reserved for SERCOS 7 Reserv...

Page 257: ...2 2018 MSD Servo Drive Device Help 257 11 Alarm warnings 11 2 Alarms warnings Details Fig 11 3 Alarms and warnings Details dialog box To open an overview of the current error and a history containing...

Page 258: ...ment id 31 24 CommentText Additional comment text 31 25 Line Line of error occurrence 31 26 File Source File Table 11 3 Alarms warnings Details parameters MOOG ID No CB40859 001 Date 02 2018 MSD Servo...

Page 259: ...or id Table 11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 259 11 Alarm warnings ID Index Name Unit Description 31 93 Location Error l...

Page 260: ...rnings Details parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 260 11 Alarm warnings ID Index Name Unit Description 31 159 CommentText Additional comment text 31 16...

Page 261: ...rStage Power stage time stamp of error event Table 11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 261 11 Alarm warnings ID Index Name...

Page 262: ...erStage Power stage time stamp of error event Table 11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 262 11 Alarm warnings ID Index Name...

Page 263: ...TimePowerStage Power stage time stamp of error event Table 11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 263 11 Alarm warnings ID Ind...

Page 264: ...ltage 730 1 UnderVoltage_OFF V DC link undervoltage 730 2 OverVoltage_ON V DC link Overvoltage 730 3 OvervVoltage_OFF V DC link Overvoltage 730 4 I_ON A Motor current 730 5 I_OFF A Motor current 730 6...

Page 265: ...are available for this purpose To display an error number and an error ER for Error flashes then the error number and then the number of the error location Example ER 16 01 Display readout Function A...

Page 266: ...r reactions on page 266 P 38 0 ERR_Specific2OptCode can be used to define an additional error response if the servo drive features an optional function package Error reaction Function Ignore 0 The err...

Page 267: ...Reac_External 30 12 Reac_ComOptCan 30 13 Reac_ComOptSercos 30 14 Reac_ComOptEtherCAT 30 15 Reac_Parameter 30 16 Reac_SpeedDiff 30 17 Reac_PositionDiff 30 18 Reac_MotionControl 30 19 Reac_FatalError 30...

Page 268: ...52 Reac_Ana 30 53 Reac_MotorFailure Error response EtherCAT master Error response Ethernet configuration Error response Wire break Error response Setpoint exceeded Error response Software limit switch...

Page 269: ...EXCEPTION in TC safety 0x6010 2 ParaList 1 ParameterInit Parameter initalisation failed 0x6320 Table 11 8 Error list Error No Error location Error handling Emergency code CiA 402 2 ParameterVirginIni...

Page 270: ...verCurrent_DC Fast Overcurrent shut off below 5 Hz 0x2350 Total current monitoring 0x2350 6 OverCurrent_Zero Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 40...

Page 271: ...error CAN option BusOff error 0x8140 1 ComOptCan_BusOff Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 2 ComOptCan_ Guarding CAN option Guarding error 0x...

Page 272: ...mOptSercos RunTimeError Various runtime errors 0xFF00 13 ComOptSercos_ Watchdog Hardware watchdog 0xFF00 14 ComOptSercos_ Para Error in parameterization selection of OP mode IP times etc 0xFF00 Table...

Page 273: ...r_ reserved1 Not used 0xFF00 12 Parameter_Inertia Moment of inertia is zero 0xFF00 13 Parameter_MPRO PARA_WatchDog in control via user interface 0xFF00 14 Parameter_DV_ DV_INIT Error in system initial...

Page 274: ...thod homing method not available 0x8612 Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 5 MotionControl_MC_ HOMING_ MethodUndefined Homing Homing method av...

Page 275: ...werStage_CRC PST CRC error 0x5400 5 FatalError_ PowerStage_ ErrorReadAccess PST Error reading power stage data 0x5400 6 FatalError_ PowerStage_ ErrorWriteAccess PST Error writing power stage data 0x54...

Page 276: ...ety fatal error on system B 20 Hardware limit switches Unknown limit switch error 0 Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 1 HardwareLimitSwitch_...

Page 277: ...terization error No order for ETS operation 8 ETS ELSE Common ETS error 21 08 No further information available Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA...

Page 278: ...21 19 No further information available 20 ETS ELSE Common ETS error 21 20 No further information available Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402...

Page 279: ...r Process Block 9 MotComp No further information available 30 ETS ProcessBlock Group error Process Block 10 MotDatASM No further information available Table 11 8 Error list continue Error No Error loc...

Page 280: ...s 0x7305 Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 6 EncCH1Init_ EnDat2 1_Multiturn EnDat2 1 Plausibility check Multiturn from encoder Endat 2 1 Erro...

Page 281: ...PERFACE Interface general error 0x7305 23 EncCH1Init_ Hiperface_Timeout HIPERFACE Interface Timeout 0x7305 Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402...

Page 282: ...ToProt HIPERFACE An attempt was made to write to the protection cells in the encoder 0x7305 37 EncCH1Init_TTL_ TTL Control PCB does not support TTL evaluation 0x7305 IncompatibleHardware Table 11 8 Er...

Page 283: ...oring 0x7307 EncObs_20c Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 4 EncCH3Init_ EnDat2 1_NoEnDat2 1 EnDat2 1 No EnDat2 1 encoder encoder may be SSI e...

Page 284: ...EncCH3Init_SSI_ EncObs SSI Encoder monitoring bit 0x7305 21 Location not defined 38 EncCH3Init_ EnDat2 1_PositionBits EnDat2 1 Plausibility check Position Bits from encoder 0x7305 Table 11 8 Error lis...

Page 285: ...1 0 Unknown error 1 EncCH1Cycl_Np_ Distance NP Plausibility check measured counter distance is out of range 0x7305 Table 11 8 Error list continue Error No Error location Error handling Emergency code...

Page 286: ...on error asynchronous motor 0x5300 4 InitCon_FM_ASM_ FW TriCore floating point error no return address available 0x5300 5 Error in U f control initialization 6 for internal use Table 11 8 Error list c...

Page 287: ...reak Encoder 0xFF00 channel 1 5 6 ENC CH1 SSI error parity error ENC CH3 SSI error encoder monitoring ENC CH3 SSI error parity error 7 Table 11 8 Error list continue Error No Error location Error hand...

Page 288: ...essive position deviation between Master and Slave 40 Twin Sync Module Communication error TECH option Communication error Mode conflict 0 2 Table 11 8 Error list continue Error No Error location Erro...

Page 289: ...reference value limitation Lock active in both directions 0x8612 46 LERR_positionLimit Unknown error 0 Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 1 Po...

Page 290: ...System Safety system 1 Alarm on SMC MCO System_A Alarm_MCO_A 0x6100 2 Alarm on SMC MCO System_B Alarm_MCO_B 0x6100 3 Alarm on SMC SCO_1 System_ A Alarm_SCO1_A 0x6100 Table 11 8 Error list continue Err...

Page 291: ...y encoder 0x8100 52 Wire break detection analogue inputs LERR_ANA Analogue inputs 0 Unknown error 1 Wire break detection Wire break on analogue inputs 0xFF00 53 LERR_MotorFailure Motor phase error Tab...

Page 292: ...tor 0 Unknown error Carrier Based Modulator out of Sync 1 Table 11 8 Error list continue Error No Error location Error handling Emergency code CiA 402 2 Synchronous Modulator switching frequency out o...

Page 293: ...ve Device Help 293 12 Fieldbus 12 1 CANopen EtherCAT NOTE For a full description of the CANopen EtherCAT fieldbus option for the MSD Servo Drive and MSD Single Axis Servo Drive Compact operation syste...

Page 294: ...eral information on SERCOS please visit www sercos org MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 294 12 Fieldbus 12 3 PROFIBUS PROFINET NOTE For a full description of the PROFIBU...

Page 295: ...COM_SYNC_CTRL_min us minimum control output 2008 6 COM_SYNC_CTRL_Tfil ms synchronization filter time 2008 7 COM_SYNC_CTRL_____ 155 0 MPRO_DRVCOM_CFG DriveCom Configuration of device requires reset 200...

Page 296: ...2018 MSD Servo Drive Device Help 296 13 Technology options X8 13 1 Selection of modules Fig 13 1 Technology options X8 settings dialog box Option X8 available only from the factory cannot be retrofit...

Page 297: ...2 Technology Sin Cos encoder Specification ID No CA79903 001 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 297 13 Technology options X8 13 3 Sin Cos encoder NOTE For a full descripti...

Page 298: ...figuration see the Option 2 Technology SSI encoder simulation Specification ID No CB08760 001 13 5 1 Parameters The SSI encoder simulation is enabled by setting P 2800 0 TOPT_SSI_Mode to 1 ID Index Na...

Page 299: ...f the TWINsync technology option technical data connections configuration see the Option 2 Technology TWINsync option Specification ID No CB08759 001 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Driv...

Page 300: ...and control signals for viewing in the oscilloscope or as trigger signals click on the Scope signals of Device status at the very top of the window To view detailed error information click on the Erro...

Page 301: ...0 LU_Timing_Total total computational load 1661 LU_MemoryLoad SW Memory Memory load 1661 0 LU_Memory Context Save Area 1661 1 LU_Memory Dynamic program memory total 1661 2 LU_Memory Dynamic program me...

Page 302: ...Date 02 2018 MSD Servo Drive Device Help 302 15 Manual mode 15 1 Manual mode window NOTE Read comply with and confirm the safety prompt As soon as the Manual mode window opens all unrelated device set...

Page 303: ...rol mode but that will only apply when using manual mode e g acceleration deceleration setpoint speed etc Homing see Section Homing on page 189 Jog mode which can be used to move the motor step by ste...

Page 304: ...Fig 15 3 Manual mode window enabled Homing tab Fig 15 4 Manual mode window enabled Jog mode tab MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 304 15 Manual mode...

Page 305: ...Fig 15 5 Manual mode window enabled Reversing PG 0 tab Fig 15 6 Manual mode window enabled Reversing IP 1 tab MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 305 15 Manual mode...

Page 306: ...235 0 MPRO_PARA_ Frequency Hz 236 0 MPRO_PARA_ SignalType 237 0 MPRO_PARA_ WatchDog ms Drive commissioning Control word Drive commissioning Position reference value amplitude Drive commissioning Spee...

Page 307: ...o Drive Device Help 307 16 Device description 16 1 Electronic rating plate The electronic rating plate provides a variety of information concerning the MSD Servo Drive including the device model seria...

Page 308: ...22 RxFifoHandlerCnt Calling count of receive handler 24 23 USBdriveMode ID of USB driver mode 0 none 1 old 2 secure 24 24 BlockChecksumError Number of failed 64 byte blocks 60 0 DV_SwOptionX12ID ID s...

Page 309: ...meter Drive description Interface continue MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 309 16 Device description ID Index Name Unit Description 80 80 0 80 1 81 0 DV_SwBootInfo DV_S...

Page 310: ...eractive 20 11 GroupId 20 12 SaveGroups 21 21 0 21 1 21 2 21 3 21 4 21 5 21 6 21 7 21 8 PARA_DSC_SubPara2 ParaId SubParaId Name Unit Introduction DataType DataTypeName Attributes Minimum Device descri...

Page 311: ...6 Technology option 247 Touch probe 234 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 311 17 Index Channel 1 56 Channel 2 70 Channel 3 74 Characteristic K T 124 Saturation 122 Commis...

Page 312: ...tion Electronic gearing See also Synchronized motion Disengagement Engagement 227 226 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 312 17 Index Electronic rating plate 307 Encoder 4...

Page 313: ...Method 11 199 Method 12 199 Method 13 199 Method 14 199 Method 15 200 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 313 17 Index Method 16 200 Method 2 194 Method 3 195 Method 31 20...

Page 314: ...hod 147 Limit switch 194 Negative 199 Limitations 251 Jerk 183 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 314 17 Index Limitation Position 253 Setting 251 Speed 253 Load factor 30...

Page 315: ...tputs 231 Analog 247 Digital 238 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 315 17 Index Motor brake 248 Overmodulation 124 Oversampling 100 P Position control See also Control Co...

Page 316: ...lso Weighting Acceleration 175 User defined 177 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 316 17 Index Position unit 169 Speed 171 SERCOS 21 294 Halt status 239 Axis correction 9...

Page 317: ...0 119 120 131 108 51 52 95 148 182 252 253 108 180 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 317 17 Index 106 242 241 207 208 106 1135 35 Sampling time Reference value limitation...

Page 318: ...ning threshold 264 MOOG ID No CB40859 001 Date 02 2018 MSD Servo Drive Device Help 318 17 Index Test signal generator 149 Thresholds 251 Torque 192 193 135 138 140 141 143 124 235 239 242 251 252 168...

Page 319: ...60 74 75 Connection Encoder simulation Error message Hall Master encoder Number of lines Pin assignment With commutation signals 61 79 55 56 74 75 V V Hz mode 153 Virtual Master 228 MOOG ID No CB4085...

Page 320: ...ermany Luxembourg Turkey 49 7031 622 0 352 40 46 401 90 216 663 6020 Service 49 7031 622 197 info luxembourg moog com info turkey moog com info germany moog com service germany moog com Hong Kong The...

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