7.3.5.1 “Detent torque compensation” parameters
ID
Index Name
Unit
Description
380
CON_TCoggAddTab
Anti cogging compensation table
380
0 to
251
CON_TCoggAddTab
A
382
0
CON_TCoggComp
Anti cogging enable compensation
385
0
CON_TCoggTeachCon
Anti cogging control word
440
0
CON_TAB_TabIndex
Compensation table: index
441
0
CON_TAB_TabVal
A
Compensation table: Value at CON_TAB
index
442
0
CON_TAB_PosStart
specific
Comp. table start position (unit depends on
source signal)
443
0
CON_TAB_PosDelta
specific
Compensation table delta position
445
0
CON_TAB_TeachDir
Compensation table teaching direction (sign
of speed)
446
0
CON_TAB_OutVal
A
Compensation table: output value
447
CON_TAB_Tune
Compensation table fine-tuning
447
0
TimeDelayComp
specific/rpm Time delay compensation for speed
dependent phase shift
447
1
PosShift
specific
Compensation table position shift
447
2
ScaleFactor
Compensation table amplitude scaling
447
3
FadeOutStart
rpm
Speed value, where cogging compensation
fadeout starts
447
4
FadeOutEnd
rpm
Speed value, where cogging compensation
fadeout ends
Table 7.2: “Detent torque compensation” parameters
There are two functions each for teaching, calculating and compensation (F1 and
F2). This fulfils a series of different requirements:
Two tables each for teaching and compensation:
- One small table with 250 elements each and
- One large table with 4000 elements each.
Input mapping diagram: two different methods for the input reference:
- Input reference ‘fixed' 32-bit: incremental, ‘rotary' recurring position: The entire
width of the 32-bit input position has ‘fixed mapping' over the entire ‘width' of the
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
117
7 Control
table.
à
recurring, infinite
Table: index = (inpos inc / 2^32 inc) * tabsize, with tabsize = 250 or 4000
- Input reference ‘variable' via delta (**): absolute, 'linear' continuous position: the
32-bit input position has ‘variable mapping' to the table via delta (**),
Delta in number of input increments per table section
(one index spacing distance).
à
absolute
Table: index = (inpos inc - offset inc(***) / delta inc (**)
(**)
Delta-Parameter P 443[0] - CON_TAB_PosDelta
(***) Offset Parameter P 442[0] - CON_TAB_PosStart
Input tuning using parameter P 447[0,1] - CON_TAB_Tune[0,1]:
- [0].TimeDelayComp: speed dependent index correction, default 0.
- [1].PosShift: absolute index correction, default 0.
Output scaling using parameter P 447[2] - CON_TAB_Tune[2]:
- [2]. ScaleFactor: multiplicative output correction, default 1.0.
Output fader using parameter P 447[3,4] - CON_TAB_Tune[3,4]:
- [3].FadeOutStart: Fader starting speed, default 0 rpm.
- [4].FadeOutEnd: Fader ending speed, default 0 rpm.
As of the starting speed, the effect of the isq feed forward control is faded out linearly
with the increase of the ‘slow’ speed. A ramp is used which ensures that at the
ending speed, the isq feed forward control no longer has any effect (=0). The fader is
activated when the starting and ending speeds are >0 and are plausible relative to
each other.
Teach direction using parameter P 445[0] - CON_TAB_TeachDir:
- Function 2 operates optionally with suppression of the direction of travel (not
function 1!). The default setting here is for the teaching in function 2 to only be
‘effective’ in the positive direction of travel, which means that travel in both directions
is possible. However, entries are made in the teach table only in the positive
direction of travel in this case; in the negative direction of travel, all entries into the
teach table are then suppressed.
