Procedure
Step
Action
1.
Open the manual mode window and set speed-controlled mode.
2.
Motor operated at constant speed
l
Resolver: 1000 rpm
l
Sin/Cos incremental encoder: 1 to 5 rpm
3.
Set
P 549[0] - ENC_CH1_Corr
to "ADAPT(2) = Auto correction"
4.
Wait about 1–3 minutes. During this time, the compensation algorithms
will reach their steady state. Speed ripple should decrease after about 1
minute. This can be monitored with the actual speed value in the scope
or with
P 550 - ENC_CH1_CorrVal
.
5.
Set
P 549[0] - ENC_CH1_Corr
to "CORR(1) = Correction with saved
values".
6.
Save in the device
Table 6.16: Configuring and activating GPOC
NOTE
l
The routine can also be kept enabled permanently. However, this
approach is less robust and requires careful testing to determine
whether the improved encoder evaluation quality will actually be
maintained during continuous operation.
l
The GPOC routine will determine the parameters individually for
each encoder. If the motor is replaced, the GPOC routine must be
activated again.
ID
Index Name
Unit Description
549
0
ENC_CH1_Corr
Signal correction type
550
ENC_CH1_CorrVal
Signal correction values
550
0
OffsetA
Offset, track A - cosine
550
1
OffsetB
Offset, track B - sine
Table 6.17: Signal correction (GPOC) parameters for channel 1 (X7)
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
75
6 Encoder
ID
Index Name
Unit Description
550
2
GainA
Gain, track A - cosine
550
3
GainB
Gain, track B - sine
550
4
Phase
Phase difference
Table 6.17: Signal correction (GPOC) parameters for channel 1 (X7) (continue)
6.6.3 Encoder gearing X6
See Section "Encoder gearing" on page 89 The encoder gearing for encoder
channels Ch1, Ch2 and Ch3 is described there.
NOTE
l
In the case of encoder channel Ch2, it is assumed that the
resolver will always be used as a commutation encoder on the
motor shaft. Because of this, the numerator adjustment range is
limited to a value of (+1) or (-1), while the denominator is set at a
fixed value of (+1), for the Ch2 encoder gearing ratio. This means
that the only option available is to invert the encoder signal
(direction reversal).
l
Encoder channel Ch4 (virtual encoders) does not feature any
encoder gearing.
