Moog MSD Servo Drive, Device Help

Page: 133 / 472

ID Index Name Unit Description
304 0 CON_SConTS ms Speed control sampling time
2939 0 CON_SCON_TorqueTF ms Actual torque filter time
Digital filter Digital filter / speed controller settings
325 CON_SCON_FilterFreq Filter frequencies of digital filter
325 0 CON_SCON_FilterFreq Hz 1st center/cutoff
325 1 CON_SCON_FilterFreq Hz 1st width
325 2 CON_SCON_FilterFreq Hz 2nd center/cutoff
325 3 CON_SCON_FilterFreq Hz 2nd width
326 0 CON_SCON_FilterAssi Digital filter design assistant
327 CON_SCON_FilterPara Coefficients of digital filter
327 0 FilterPara b0 b0*x(k)
327 1 FilterPara b1 b1*x(k-1)
327 2 FilterPara b2 b2*x(k-2)
327 3 FilterPara b3 b3*x(k-3)
327 4 FilterPara b4 b4*x(k-4)
327 5 FilterPara a1 a1*y(k-1)
327 6 FilterPara a2 a2*y(k-2)
327 7 FilterPara a3 a3*y(k-3)
327 8 FilterPara a4 a4*y(k-4)
1550 0 SCD_NotchType Adaptive Notch filter: Method
1551 0 SCD_NotchCntl Adaptive Notch filter: Control word
1552 SCD_NotchFreq Adaptive Notch filter: Frequencies
1552 0 SCD_NotchFreq Hz Adaptive Notch filter: Frequency
1552 1 SCD_NotchLambda Hz/min^-
2 Adaptive Notch filter: Coefficient
1552 2 SCD_NotchMinFreq Hz Adaptive notch filter: Minimum frequency
1552 3 SCD_NotchMaxFreq Hz Adaptive notch filter: Maximum frequency
1552 4 SCD_NotchDeltaFreq Hz Adaptive Notch filter: Maximum frequency
change (in each iteration)
Analysis of speed control Advanced analysis of the speed controller
401 0 CON_SCON_AddTRef Nm (N) Additive torque reference
402 0 CON_SCON_AddSRef 1/min Additive speed reference value (without ramp)
Scope signals (advanced)
Observer
Scope signals (basic)
Table 7.12: “Speed controller” parameter (continue)
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
133
7 Control
7.4.1 Advanced speed control
Image 7.22: “Speed controller advanced setup” screen
7.4.1.1 Speed observer
The speed observer is a simple model of the path with motor current as input, as
estimation of load torque and feedback of the estimated error from encoder position
for speed control. The observer generates an estimation of motor speed that is used
as an alternative to the measured, filtered speed of the axis.
Procedure for using the observer
l
Make sure that the mass inertia of the system ( P 1516[0] - SCD_JSum ) is
known. To do so, determine the inertia of the system (see section “Section
"Automatic inertia detection" on page 111”), if this has not yet been done.