l
OFF(0)
= Compensation switched off
l
EPSRS(1)
= Compensation as a function of the electrical angle,
Small table with 250 elements,
P 380
- CON_TCoggAddTab[252]
,
F1: Compensation function 1 (incremental, ‘rotary' recurring)
- Without offset and delta, with tuning, with fader
- Teaching
à
Calculation: (385) = (1), (2)
à
(3)
l
EPSM(3)
= Compensation as a function of the mechanical angle,
Big table with 4000 elements, flash image[4005],
F1: Compensation function 1 (incremental, ‘rotary' recurring)
- Without offset and delta, with tuning, with fader
- Teaching
à
Calculation: (385) = (6), (11), (12)
à
(8)
l
ABSPOS(2)
= Compensation as a function of the absolute position,
ENCPOS(4)
= Compensation as a function of the absolute position,
Big table with 4000 elements, flash image[4005],
F2: Compensation function 2 (absolute, 'linear' continuous)
- With offset and delta, with tuning, without fader
- Teaching
à
Calculation: (385) = (5), (7), (9), (10)
à
(3)
7.3.5.3 Procedure for detent torque compensation
The following table shows the procedure for detent torque compensation.
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
120
7 Control
No.
Action
1
Open manual mode window
2
Speed control mode control setting (set high rigidity, for smooth running)
3
Set the teaching direction if necessary:
P 445[0] - CON_TAB_TeachDir
Default: POS(1)= teaching routine in positive direction.
4
Set the offset and delta if necessary using:
P 442[0] - CON_TAB_PosStart
, default 0
P 443[0] - CON_TAB_PosDelta
, default 1000 inc/TabElement
5
Set the input tuning if necessary using:
P 447[0] - CON_TAB_Tune.TimeDelay
, default 0
P 447[1] - CON_TAB_Tune.PosShift
, default 0
6
Start control
7
Run motor at low speed (≤ 1 rpm)
8
Set the position source for the teaching, activate teaching: Select
P 385[0] - CON_TCoggTeachCon > 0
.
à
The teaching routine begins (possibly only with PosStart, however).
9
Move at least 1 motor revolution in the same direction
(internal filter time).
10
With the control still operating, the teaching is then stopped by calling the
calculation function once:
P 385[0] - CON_TCoggTeachCon = (3)CALC1 or (8)CALC2.
Afterwards,
parameter P 385[0] jumps back to READY(0).
Table 7.4: Overall procedure for detent torque compensation