(385)
CON_TCoggTeachCon
__
Singleturn position from encoder for commution
- F1: Big teach table (4000)
- F1: Rotary, mapping: fixed 32-bit
- F1: Without teaching direction
- F1: Without offset and delta, with tuning, with fader
Calculation: (385)CON_TCoggTeachCon=(8)CALC2
Compensation: (382)CON_TCoggComp=(3)EPSM
à
big CompTab, access via (440) and (441)
(7)TeachPosEncPcon
=Teach posact from pcon encoder
Actual position from encoder for position control
in reference value normalization, Scope-Signal 152
- F2: Big teach table (4000)
- F2: Absolute, mapping via (443)CON_TAB_PosDelta
- F2: With teaching direction
- F2: Without offset and delta, with tuning, without fader
Calculation: (385)CON_TCoggTeachCon=(3)CALC1
Compensation: (382)CON_TCoggComp=(2)APSPOS
à
big CompTab, access via (440) and (441)
(9)TeachPconEncPos
=Teach (412)CON_PCON_ActPosition
Actual position from encoder for position control in reference value normalization
- F2: Big teach table (4000)
- F2: Absolute, mapping via (443)CON_TAB_PosDelta
- F2: With teaching direction
- F2: Without offset and delta, with tuning, without fader
Calculation: (385)CON_TCoggTeachCon=(3)CALC1
Compensation: (382)CON_TCoggComp=(2)APSPOS
à
big CompTab, access via (440) and (441)
Table 7.3: Settings for teaching, calculating and compensation (continue)
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
119
7 Control
(385)
CON_TCoggTeachCon
__
(10)TeachPosEncRed
=Teach posact from redundant encoder
Actual position from so called redundant encoder
in ref value normalization, Scope-Signal 153
- F2: Big teach table (4000)
- F2: Absolute, mapping via (443)CON_TAB_PosDelta
- F2: With teaching direction
- F2: Without offset and delta, with tuning, without fader
Calculation: (385)CON_TCoggTeachCon=(3)CALC1
Compensation: (382)CON_TCoggComp=(2)APSPOS
à
big CompTab, access via (440) and (441)
(11)TeachSTPosPcon
=Teach singleturn position from position control
Singleturn position of position control
- F1: Big teach table (4000)
- F1: Rotary, mapping: fixed 32-bit
- F1: Without teaching direction
- F1: Without offset and delta, with tuning, with fader
Calculation: (385)CON_TCoggTeachCon=(8)CALC2
Compensation: (382)CON_TCoggComp=(3)EPSM
à
big CompTab, access via (440) and (441)
(12)TeachEpsRS-3
=Teach epsrs commutation angle (electrical)
- F1: Big teach table (4000)
- F1: Rotary, mapping: fixed 32-bit
- F1: Without teaching direction
- F1: Without offset and delta, with tuning, with fader
Calculation: (385)CON_TCoggTeachCon=(8)CALC2
Compensation: (382)CON_TCoggComp=(3)EPSM
à
big CompTab, access via (440) and (441)
Table 7.3: Settings for teaching, calculating and compensation (continue)
The compensation (feed forward control) is activated using parameter: P 382 [0] -
CON_TCoggComp > 0.
