Moog MSD Servo Drive, Device Help

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6.4.1 Connector for resolver (X6) 56
6.4.2 Connector for high-resolution encoders (X7) 56
6.5 Channel 1: Interface X7 59
6.5.1 Main parameters for encoder channel Ch1 60
6.5.2 EnDat (cyclical) X7 61
6.5.3 Hall sensor X7 62
6.5.4 Sin/Cos / TTL X7 63
6.5.5 SSI (cyclical) X7 69
6.5.6 Encoder gearing 71
6.6 Channel 2: Interface X6 72
6.6.1 Compensation for long resolver cables 73
6.6.2 Signal correction GPOC (Gain Phase Offset Correction) 74
6.6.3 Encoder gearing X6 75
6.7 Channel 3: Interface X8 (optional) 76
6.7.1 Main parameters for encoder channel Ch3 80
6.7.2 Absolute value interfaces X8 82
6.7.3 EnDat (cyclical) X8 82
6.7.4 Hall sensor X8 82
6.7.5 Sin/Cos / TTL X8 82
6.7.6 SSI (cyclical) X8 87
6.7.7 Encoder gearing 89
6.8 Channel 4: Virtual encoder 90
6.8.1 Sensorless control synchronous motor 91
6.8.2 Sensorless asynchronous motor control 97
6.9 Redundant encoder 100
6.10 Axis correction 100
6.11 Oversampling 104
6.12 Multi-turn encoder as a single-turn encoder 104
6.13 Increment-coded reference marks 105
6.14 Overflow in multi-turn range 106
6.15 Zero pulse test 107
7 Control 108
7.1 Overview of control structure 108
7.1.1 Setting 109
7.2 Basic settings 110
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help 5
Table of contents
7.2.1 Motor control basic settings 110
7.2.2 Automatic inertia detection 111
7.3 Torque controller 113
7.3.1 Current controller optimization 113
7.3.2 Creating the transfer function 114
7.3.3 Decoupling 115
7.3.4 Current actual value filter 115
7.3.5 Detent torque compensation 115
7.3.6 Advanced torque control 125
7.3.7 Torque control with defined bandwidth 129
7.3.8 Enhanced feed forward control of voltage 129
7.4 Speed controller 131
7.4.1 Advanced speed control 133
7.4.2 Digital filter 136
7.4.3 Analysis of Speed control 137
7.5 Position controller settings 140
7.5.1 Pre-control 140
7.5.2 Friction torque compensation (friction) 141
7.6 Asynchronous motor field weakening 143
7.6.1 Variant 1: Default 143
7.6.2 Variant 2: Modified characteristic 144
7.6.3 Voltage controller 144
7.6.4 Field-weakening of asynchronous motor voltage controller 145
7.7 Field weakening and LookUpTable (LUT), synchronous motor 146
7.7.1 Variant 1 (Table) 148
7.7.2 Variant 2 (Calc) 148
7.7.3 Variant 4 (TableMotGen) 149
7.7.4 Variant 5 (TABLE2) 149
7.7.5 Variants 3 and 6 (LUT) 150
7.7.6 Field-weakening of synchronous motor voltage controller 156
7.8 Synchronous motor auto commutation 156
7.8.1 IENCC(1) method 158
7.8.2 LHMES(2) method 159
7.8.3 IECON(4) method 160
7.8.4 Test signal generator 161
7.9 V/Hz mode 165
7.10 Process controller 166