NOTE
l
For pumps which only operate with a positive speed (only one
direction of rotation) and switch the direction of action of the
cylinder via a directional valve, one of the two cylinder surfaces
must be specified as negative (Image 7.64: “Cylinder
configuration” screen). If the pump can be operated in both
directions of rotation, this is not necessary.
Since in MSD Servo Drive all encoder input variables are calculated in revolutions,
the hydraulics require a relationship between linear and rotary motion for the
internal calculations of the cylinder model, cylinder speed and feed-forward control
variables. For this purpose, the encoder resolution Sx of the linear encoder in µm
per encoder revolution must be known (Para 2852.7unit_scale). In this case, one
encoder revolution is the singleturn range of the respective position sensor for the
cylinder position. This corresponds to 32768 µm/rev for a 16 bit linear encoder with a
resolution of 0.5 µm per increment.
If the current position of the cylinder is transferred via the bus interface (P 2298
ComAngle32), the single and multiturn range is set to 16 bits each. This corresponds
to 65536 µm/rev.
ID
Index
Name
Unit
Description
2852
HYD_SpdCon
Speed control parameters
2852
0
cylArea1
cm^2
Cylinder area
2852
1
Ife_K_scale
Leakage Flow Estimator: Gain scaling
2852
2
cylArea2
cm^2
Cylinder area (option 2, use neg. value for neg.
direction)
2852
3
Ife_K_scale2
Leakage Flow Estimator: Gain scaling (option 2)
2852
4
res
Reserved
2852
5
res
Reserved
2852
6
res
Reserved
2852
7
unit_scale
um/rev
Hydraulic physical unit scaling
Table 7.57: Parameters – Pressure control parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
189
7 Control
ID
Index
Name
Unit
Description
2852
8
Kp
1/min
Speed control gain
2852
9
Tn
ms
Speed control integration time constant
2852
10
KpScale
%
Speed control gain scaling
2852
11
KpScale2
%
Speed control gain scaling (option2)
Table 7.57: Parameters – Pressure control parameters (continue)
