Step
Action
1.
Use
P 530 - ENC_Encoder1Sel
to select the channel for SERCOS: 1st
encoder
2.
Use
P 531 - ENC_Encoder2Sel
to select the channel for SERCOS: 2nd
encoder
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 using a reference measurement
system (e.g. laser interferometer). The interpolation points for the various
directions within the desired correction range are approached one after
another and the corresponding position error is measured.
6.
The interpolation point-specific correction values are entered manually in
tables
P 595 - ENC_ACOR_VnegTab
(neg. direction) and
P 596 - ENC_
ACOR_VposTab
(pos. direction).
7.
Save values
8.
Restart the device
9.
P 592 - ENC_ACOR_PosEnd
now shows the position end value of the
correction range.
10.
Start control (in position control execute homing) and then move to any
position.
11.
The momentary correction value is written to
P 594 - ENC_ACOR_Val
.
This value is subtracted from the approached position value. This applies
to all positions. End position = interpolation point pitch multiplied by
number of interpolation points (table values) + start position (only if start
position ≠ 0).
Table 6.36: Axis correction procedure
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
102
6 Encoder
Position control
The direction of movement is produced when the time-related change in position
reference (speed pre-control value) has exceeded the amount of the standstill
window in the positive or negative direction.
Speed control
The direction of movement is produced when the speed reference has exceeded the
amount of the standstill window in the positive or negative direction.
