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Moog MSD Servo Drive, Device Help

The Moog MSD Servo Drive is a high-performance device designed to optimize your servo system. For Device Help, simply download the free user manual from manualshive.com. This comprehensive manual includes step-by-step instructions for installation, programming, and troubleshooting. Upgrade your system today with the Moog MSD Servo Drive.

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6.8.1  Sensorless control synchronous motor

NOTE

 

l

Sensorless control with an expanded Kalman filter requires the 
following firmware versions:

 

o

MSD Servo Drive: V123-95 or higher

 

o

MSD Single-Axis Servo Drive Compact: V1.30-98

Value

Value replacement text

Description

0

READY

Waits for input

1

TAKEOVER_ENC CH1

Switches to encoder channel 1 in 
real-time

2

TAKEOVER_ENC CH4

Switches to encoder channel 4 in 
real-time

3

PRESET

General initialization for encoder 
channel 4 with sensorless control; 
the following are carried out 
during this initialization routine:

 

l

The test signal generator 
is configured

 

l

The Q matrix, R matrix are 
calculated

 

l

The Kalman filter is 
initialized

Table 6.28:   Control word ENC_CH4_Ctrl (P783)

MOOG

ID No.: CB40859-001   Date: 11/2020

MSD Servo Drive  - Device Help

91

6  Encoder

Value

Value replacement text

Description

4

START_ KAL

Starts and initializes the Kalman 
filter without determining the 
noise covariance matrices and 
without configuring the test signal 
generator

5

STOP _KAL

Stop encoder module CH4

6

CALC_RQ

Calculates noise covariance 
matrices R and Q based on the 
configured motor parameters

Table 6.28:   Control word ENC_CH4_Ctrl (P783) (continue)

P No.

Index Name

Unit Description

339

 

CON_SCON_Kalman

 

Kalman: Setting

 

0

Tf_Kalman

ms

Kalman: Integration time

 

1

KpScale_Kalman

%

Kalman: Gain

350

 

CON_SCALC_SEL

 

Used to select the speed calculation method

 

0

SEL_ObserverMethod

 

Selection of speed calculation method

508

0

ENC_CH4_Sel

 

Selection of encoder type

783

0

ENC_CH4_Ctrl

 

Control

790

0

ENC_CH4_Kalman_R

 

Sensorless control: R-Matrix

791

 

ENC_CH4_Kalman_Q

 

Sensorless control: Q-Matrix

791

0

Q[0,0]

 

Sensorless control: Q-Matrix (id)

791

1

Q[1,1]

 

Sensorless control: Q-Matrix (iq)

791

2

Q[2,2]

 

Sensorless control: Q-Matrix (omega)

791

3

Q[3,3]

 

Sensorless control: Q-Matrix (epsilon)

791

4

Q[4,4]

 

Sensorless control: Q-Matrix (T Last)

792

 

ENC_CH4_Kalman_
SigInj

 

Sensorless control: Test signal generator

792

0

Signal

 

SC test signal: Signal calculation selection

792

1

Frequency

Hz

SC test signal: Sinusoidal signal frequency

Table 6.29:   “Sensorless synchronous motor control” parameters

Summary of Contents for MSD Servo Drive

Page 1: ...MSD Servo Drive and MSD Single Axis Servo Drive Compact Device Help MOOG Servo Drive 2 A to 450 A Single Axis Systems and Multi Axis System...

Page 2: ...Single Axis Servo Drive Compact l V124 30 xx MSD Servo Drive Single Axis System and Multi Axis System l V174 30 xx if you need to use hydraulic parameters see Section Hydraulic control on page 173 fo...

Page 3: ...ays be updated in line with ongoing technical developments in our products Information and specifications may be subject to change at any time For information on the latest version please visit drives...

Page 4: ...ilure bridging 28 4 2 1 Detection of a voltage failure 28 4 2 2 Monitoring for single phase failure 31 5 Motor 32 5 1 Motor configuration data 32 5 2 Synchronous motor 33 5 2 1 Synchronous motor elect...

Page 5: ...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 optimizati...

Page 6: ...oder 251 8 5 3 Method 12 Set absolute position absolute measuring system 252 8 5 4 Method 10 and Method 11 Move to block with zero pulse 252 8 5 5 Method 8 and 9 Move to block 253 8 5 6 Method 7 to 0...

Page 7: ...s 314 11 2 Alarms and warnings Details 316 11 3 Warning thresholds 323 11 4 Error display 324 11 4 1 Servo Drive display 324 11 4 2 Display in the Moog DriveAdministrator 5 324 11 5 Error reactions 32...

Page 8: ...437 11 6 52 Error 58 HYDRAULIC common error 437 11 6 53 Error 60 Spindle clamping system monitoring error 437 11 6 54 Error 61 End damping error 438 11 6 55 Error 62 Battery buffered encoder 438 11 6...

Page 9: ...om Moog l The device documentation must be kept readable always available and throughout the product s service life l Read and understand the documentation for your device l Qualification To avoid bod...

Page 10: ...ce to further applicable documents Step Action 1 Number HANDLING INSTRUCTIONS Operating step performed by either the user or the system For the pictograms for safety information and warnings used in t...

Page 11: ...fe operation and l attaining the performance characteristics and product characteristics described Moog accepts no liability for personal injury material damage or financial losses arising from disreg...

Page 12: ...Manual Safety device installation setup commissioning diagnostics specifications certifications and applicable standards technical data CA97556 001 PDF 5 MSD Servo Drive Description of the STO safety...

Page 13: ...n for safe tech option second safe Sin Cos encoder second safe SSI encoder second safe axis monitoring Sin Cos Connection configuration CC23875 001 PDF 14 MSD Servo Drive MSD PLC Function Package Quic...

Page 14: ...mm Strasse 28 D 71034 B blingen Phone 49 7031 622 0 Email drives support moog com If you are looking for support in case of any necessary service Moog specialists will be glad to help Service Please c...

Page 15: ...Device Help 15 2 Safety NOTE l Pay attention to special safety and warning information which is provided here in the document directly before a specific action and warns the user of a specific danger...

Page 16: ...tting up and or operating a complete machine or system is responsible l For ensuring that the motor will be brought to a safe state if the device fails l For the safety of persons and machinery l For...

Page 17: ...0 MSD Servo Drive Device Help 17 3 Initial commissioning 3 1 Initial Commissioning wizard The wizard guides you through the subject areas that are relevant for the initial commissioning Correct settin...

Page 18: ...ually by double clicking on the pictogram see Chapter overview in Section Initial commissioning on page 17 or via Project tree Device setup Initial commissioning MOOG ID No CB40859 001 Date 11 2020 MS...

Page 19: ...tor Selection of motor system 4 Identification l Measurement of electrical parameters resistance inductivity l Current controller tuning l Calculation of nominal flux Data set calculation l Complete C...

Page 20: ...al generator is set automatically l Optimizing the speed controller l Determine mass inertia J basic settings l Set speed filter P 0351 CON_SCALC_TF 0 6 ms Recommendation Sin Cos encoder 0 2 ms 0 6 ms...

Page 21: ...onditions For more information refer to the User Manuals for the individual bus systems 13 Saving the settings and creating a commissioning file Saving For more information on data handling refer to t...

Page 22: ...heck has been implemented which permits monitoring of the motor wiring It also checks whether the parameter setting of the pulses per revolution of the encoder and the number of pole pairs of the reso...

Page 23: ...reens MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 23 3 Initial commissioning 3 3 Motor Image 3 5 Initial Commissioning Motor data and control settings screen l You can click on the...

Page 24: ...Section Encoder selection on page 53 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 24 3 Initial commissioning 3 5 Control Image 3 7 Initial Commissioning Control screen l You can us...

Page 25: ...Device Help 25 4 Power stage 4 1 Power stage settings Image 4 1 Power stage settings screen AC device The power stages of the Servo Drive can be operated with different voltages and switching frequenc...

Page 26: ...ds on the device and on the currently selected operating switching frequency from parameter P 302 CON_SwitchFreq The switching frequency can be reduced by a maximum of 2 steps In other words there are...

Page 27: ...link voltage DC low voltage Table 4 3 Power stage DC drives parameters ID Index Name Unit Description 308 0 CON_VoltageNom V Nominal voltage DC low voltage Table 4 4 Power stage Low voltage DC supply...

Page 28: ...4 2 1 1 Functional description The P 2940 CON_PowerFail_Sel selection parameter can be used to select the following operating modes 0 OFF switched off 1 Ret Power failure bridging with power return d...

Page 29: ...43 0 CON_POWF_RetTime is set to 65535 there will be no time limit for the drive to return to its original control state after power returns MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device H...

Page 30: ...ive Device Help 30 4 Power stage 4 2 1 4 Parameters P No Index Name Setting Unit Function 2940 0 CON_PowerFail Power failure bridging selector Off 0 Function disabled RET 1 Function enabled Return of...

Page 31: ...ntinues to operate for the time being However the input rectifier can be damaged at a high output power The single phase power failure detection is set with P 737 0 MON_MNCTL bit 3 1 The quadratic rip...

Page 32: ...ers when using PMSM motors 47 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 32 5 Motor 5 1 Motor configuration data Image 5 1 Motor data and control settings screen Each motor can on...

Page 33: ...operated if its field model and the control parameters are correctly set On transfer of a standard motor data set the motor name electrical data and motion mode are loaded Preset parameters are overw...

Page 34: ...tings for current controller the current controller is dimensioned based on the actual switching frequency set l Speed controller and position controller gain here a moderately stiff mechanism and mas...

Page 35: ...I2 472 3 Lsig_q I3 Inductance CurrentI3 472 4 CurrentI0 Current I0 relative to MOT_CNom 472 5 CurrentI1 Current I1 relative to MOT_CNom 472 6 CurrentI2 Current I2 relative to MOT_CNom 472 7 CurrentI3...

Page 36: ...2 MOT_FLUXNom l Calculation of current speed and position control parameters NOTE l P 490 MOT_ISLinRot LIN 1 The parameter automatically sets the number of pole pairs for the motor to P 463 Mot_PolePa...

Page 37: ...SpeedMax m s Motor rated speed 494 0 MOT_ForceNom N Motor rated force 496 0 MOT_MassMotor kg Mass of motor slide 497 0 MOT_MassSum kg Total mass moved by the motor 498 0 MOT_EncoderPeriod um Period of...

Page 38: ...at Inductor saturation Motor torque as function of q axis current saturation 479 0 Torque I0 Nm Torque current I0 479 1 Torque I1 Nm Torque current I1 479 2 Torque I2 Nm Torque current I2 479 3 Torque...

Page 39: ...oller is dimensioned dependent on the switching frequency setting l Speed controller and position controller gain In this a moderately rigid mechanism and a 1 1 moment of inertia adjustment from the l...

Page 40: ...nductance scaling factor 476 0 MOT_Rrot Ohm Motor rotor resistance 477 0 MOT_RrotScale Motor rotor resistance scaling factor 478 0 MOT_LmagNom mH Main inductance at nominal magnetizing current Table 5...

Page 41: ...rature monitoring parameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 41 5 Motor P No Index P Name Setting Unit Function X5_X8 4 X5 and X8 connector temperature sensor...

Page 42: ...ed to both X6 and X7 l 1 MSD Single Axis Servo Drive Compact and MSD Servo Drive Safety require an adapter NTC adapter 220 kOhm available l 2 With MSD Single Axis Servo Drive Compact The following tab...

Page 43: ...set to THERM 1 Thermal time constant dependent all settings apart from the thermal time constant are disabled If the integrator exceeds its limit value the error E 09 01 is triggered The current value...

Page 44: ...B40859 001 Date 11 2020 MSD Servo Drive Device Help 44 5 Motor If the I2t type is set to THERM 1 Thermal time constant dependent all settings apart from the thermal time constant are disabled If the i...

Page 45: ...tion Image 5 11 Motor identification screen for a rotary synchronous motor MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 45 5 Motor Image 5 12 Motor identification screen for a linea...

Page 46: ...us motor identification l Current controller tuning l Measurement of P 470 0 MOT_Rstat Stator resistance P 476 0 MOT_ Rrot Rotor resistance P 471 0 MOT_Lsig Leakage inductance l Maximum effective curr...

Page 47: ...consumption Accordingly it is not necessary to take motor chokes into account separately when calculating current setpoints Meanwhile as a result of the additional capacitor current ic resulting from...

Page 48: ...urrent control circuit s dynamic performance Among other things the use of a sine wave filter will result in resonances In order to avoid exciting oscillations the current control circuit s decoupling...

Page 49: ...nt setpoint components isdref isqref Moreover the current controller decoupling network will be deactivated The calculated values of the motor terminal voltage and capacitor current components can be...

Page 50: ...n the corresponding capacitance value must first be divided by 3 and then entered into the parameter 5 7 4 Scope signals ID Index Name Unit Description 2500 0 isdpre_SinFilt A Calculated filter capaci...

Page 51: ...selection Contents 6 1 Introduction 52 6 2 Encoder selection 53 6 3 Encoder offset 55 6 4 Connections and pin assignations 55 6 5 Channel 1 Interface X7 59 6 6 Channel 2 Interface X6 72 6 7 Channel 3...

Page 52: ...I encoders MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 52 6 Encoder l or one EnDat encoder and one SSI encoder gleichzeitig betrieben werden 6 1 2 Encoder gearing The encoder geari...

Page 53: ...Val for Ch2 l P 502 ENC_CH3_ActVal for Ch3 l P 503 ENC_CH4_ActVal for Ch4 The parameters are field parameters with l Index 0 single turn component and l Index 1 multi turn component MOOG ID No CB40859...

Page 54: ...legt werden P No Index Name Unit Description 520 0 ENC_MCon Selection of encoder channel for commutation angle 521 0 ENC_SCon Selection of encoder channel for speed control 522 0 ENC_PCon Selection of...

Page 55: ...definition the motor is run in Current control mode at rated current For a correct definition it is necessary for the motor to be able to align itself freely A connected brake is automatically vented...

Page 56: ...internally connected to X7 3 5 PTC NTC KTY Klixon 1 6 Ref analog excitation 7 Ref analog excitation ground for pin 6 and pin 4 8 REFCOS S3 analog differential input Track B 9 PTC NTC KTY Klixon 2 3 1...

Page 57: ...Switch 2 13 Sense Sense Sense 14 CLK CLK 15 CLK CLK 1 The total of the currents drawn at X7 3 and X6 4 must not exceed the specified value 2 After connecting pin 7 to pin 12 a voltage of 11 8 V will a...

Page 58: ...ixon internally connected to X6 5 3 11 B B SIN 12 Sense Sense Sense US Switch 2 Table 6 4 Pin assignment X7 MSD Single Axis Servo Drive Compact MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Devi...

Page 59: ...sets for Moog encoders will already be available there by default Encoder name You can use this field to enter your own information for describing the encoder maximum 31 characters P 555 0 ENC_CH1_Inf...

Page 60: ...nstead default l In the case of linear encoders PeriodLen and DigitalResolution will be needed instead of MultiT and SingleT P No Index Name Setting Unit Description 505 0 ENC_CH1_Sel Main selection o...

Page 61: ...Help 61 6 Encoder NOTE l Please note the limitations that apply when running EnDat and SSI encoders see Section Limiting for EnDat and SSI on page 52 When using linear encoders P 554 0 ENC_CH1_Digital...

Page 62: ...40 3 ENDAT_BWZ_3 lowbyte vn3 absolute track 640 4 ENDAT_BWZ_4 lowbyte vn4 position value formation 640 5 ENDAT_Status EnDat additional status output 640 6 ENDAT_Z1_Sel EnDat additional information 1 t...

Page 63: ...l 1 AR_B A B tracks reverse counting X4 encoding AB_inv MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 63 6 Encoder l 2 ABDFN A Clock falling edge B Direction 1 positive PulseDir l 3...

Page 64: ...e In this case P 540 0 ENC_CH1_Abs must be set to OFF 0 b Be incremental encoders with an absolute value interface In this case P 540 0 ENC_CH1_Abs must be accordingly set to SSI 1 EnDat 2 HIPER 3 or...

Page 65: ...TTL encoders 543 0 ENC_CH1_MultiT Number of MultiTurn bits absolute encoder 544 0 ENC_CH1_SingleT Number of SingleTurn bits absolute encoder 545 0 ENC_CH1_Code Code selection SSI encoder binary gray 5...

Page 66: ...ad of MultiT and SingleT bits rotary In MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 66 6 Encoder contrast linear SSI encoders are treated as rotary SSI encoders in this case it is...

Page 67: ...540 0 ENC_CH1_Abs SSI_CONT 4 which is a special case the absolute SSI encoder position will be read once during the initialization phase after this the cyclical encoder position will be acquired base...

Page 68: ...e 11 2020 MSD Servo Drive Device Help 68 6 Encoder ID Index Name Unit Description 552 0 ENC_CH1_AbsEncStatus Error and status codes absolute encoder 553 0 ENC_CH1_PeriodLen nm Length of signal period...

Page 69: ...irst and foremost The following table lists the parameters for cyclical SSI operation on encoder channel Ch 1 It also points out possible differences between the use of the SSI interface with the cycl...

Page 70: ...s absolute encoder 545 0 ENC_CH1_Code Code selection SSI absolute encoder 546 0 ENC_CH1_Mode Mode selection SSI absolute encoder 547 0 ENC_CH1_MTBase Minimum MultiTurn position SSI absolute encoder 54...

Page 71: ...9 001 Date 11 2020 MSD Servo Drive Device Help 71 6 Encoder 6 5 6 Encoder gearing NOTE l Please read the general information on encoder gearing found in Section Introduction on page 52 beforehand Enco...

Page 72: ...encoder gearing is used exclusively to synchronize the motor shaft with the encoder shaft default 1 1 if the shaft is the same In this case a position progress value will be passed to the system at t...

Page 73: ...Index Name Settings Unit Description 0 ResExc us Exciter signal phase shift Delay us Compensation for commutation angle delay 566 0 ENC_CH2_Amplitude Correction of amplitude for cable lengths 50 m on...

Page 74: ...amplitude of the track signals If the phase shift is properly corrected at the end of the compensation adjustment process you can save the settings NOTE l This function is not available for the MSD Si...

Page 75: ...tine 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 Off...

Page 76: ...ble Specification ID No CB08758 001 3 TTL encoder simulation TTL master encoder G392 3 4 5 7 HW version 2 or higher SW version All HW version 1 or higher SW version 1 10 or higher Specification ID No...

Page 77: ...used for encoder evaluation can be identified and selected l No column As per the table above l Hardware ID column The texts in this column can be viewed in the Moog DRIVEADMINISTRATOR 5 using P 53 0...

Page 78: ...cks 5 TTL encoder with commutation signals TTL_COM 11 TTL Hall option TTL 3 TTL_COM 5 Table 6 19 Options for X8 interface that can be used to evaluate encoders via encoder channel Ch3 SINCOS 1 is set...

Page 79: ...this button will open a menu that can be used to select encoders The data sets for Moog encoders will already be available there by default Encoder name You can use this field to enter your own infor...

Page 80: ...rameters for encoder channel Ch3 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 80 6 Encoder l P 577 0 ENC_CH3_EncObsMin If you set EncObsMin to 0 Sin Cos wire break monitoring will b...

Page 81: ...status codes absolute encoder 582 0 ENC_CH3_PeriodLen nm Length of signal period Sin Cos linear encoder Table 6 21 Encoder configuration channel 3 X8 parameters MOOG ID No CB40859 001 Date 11 2020 MSD...

Page 82: ...imitations that apply when running EnDat and SSI encoders see Section Limiting for EnDat and SSI on page 52 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 82 6 Encoder ID Index Name U...

Page 83: ...der A maximum interpolation period in ms milliseconds can be configured for the TTL interface using P 602 0 ENC_CH3_Period Within this context Period is the maximum time of no activity since the last...

Page 84: ...ers apply However there are the following differences MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 84 6 Encoder a There are no different signal types for the Sin Cos signal always 1...

Page 85: ...absolute value initialization that is the multi turn basis Assuming a bipolar encoder measuring range all position values that fall below MTBase will be shifted up the whole MT range will be added to...

Page 86: ...cks per revolution and 36 distance coded reference marks you would need to set NominalIncrementA to 1000 signal periods and NominalIncrementB to 1001 signal periods This functionality is enabled if No...

Page 87: ...upports this version first and foremost The following table lists the parameters for cyclical SSI operation on encoder channel Ch3 It also points out possible differences between the use of the SSI in...

Page 88: ...ute encoder 575 0 ENC_CH3_Code Code selection SSI absolute encoder 576 0 ENC_CH3_Mode Mode selection SSI absolute encoder 584 0 ENC_CH3_MTBase Minimum MultiTurn position SSI absolute encoder 585 0 ENC...

Page 89: ...der channels Ch1 to Ch3 each feature their own encoder gearing while encoder channel Ch4 virtual encoders does not feature any encoder gearing In the case of encoder channel Ch2 it is assumed that the...

Page 90: ...awn between an encoder s motor mode and field mode l Motor mode The encoder is the motor commutation encoder l Field encoder The encoder is not the motor commutation encoder instead it is an additiona...

Page 91: ...and without configuring the test signal generator 5 STOP _KAL Stop encoder module CH4 6 CALC_RQ Calculates noise covariance matrices R and Q based on the configured motor parameters Table 6 28 Contro...

Page 92: ...n Table 6 29 Sensorless synchronous motor control parameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 92 6 Encoder 6 8 1 1 Auto commutation When using sensorless contro...

Page 93: ...al amplitudes has been implemented This ensures that the signal can be applied gradually over a specified speed range The speed ranges in which the test signal will be applied fully P 792 7 Full signa...

Page 94: ...e angular derivative is used for normal speed control The angular change describes the difference between two predicted angular positions from consecutive sampling steps Dividing eps_diff by the obser...

Page 95: ...trol circuit motors with a marked saliency can be operated in a sensorless manner even without a test signal 6 8 1 4 Commissioning The first step in commissioning sensorless control is correctly deter...

Page 96: ...o Drive Device Help 96 6 Encoder Step Action 1 Configure noise covariance matrices Q and R This should be done automatically by setting the control parameter for encoder channel 4 P 783 0 ENC CH4 Ctrl...

Page 97: ...ill take effect in real time Table 6 30 Configuring the Kalman filter for sensorless control continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 97 6 Encoder In order to make the...

Page 98: ...ess set P 1515 0 SCD_ConDesign Stiffness to 10 Table 6 31 Commissioning a sensorless controlled asynchronous motor MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 98 6 Encoder Addition...

Page 99: ...he error voltage model P 1973 1 U_err generally a setting of 50 of the original setting yields good results It is possible that a flux boost may improve the results at low speeds when a large load is...

Page 100: ...e position value delivered by the encoder system and the actual position value on the axis may vary for a number of reasons Such non linear inaccuracies can be compensated by axis error correction usi...

Page 101: ...sed and the interpolation point pitch 592 0 ENC_ACOR_PosEnd Table 6 35 Axis correction parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 101 6 Encoder P No Index Name Setting...

Page 102: ...tart the device 9 P 592 ENC_ACOR_PosEnd now shows the position end value of the correction range 10 Start control in position control execute homing and then move to any position 11 The momentary corr...

Page 103: ...rection interpolation points for the positive and negative directions The first and last correction values in the table must be zero in order to avoid instability step changes of the actual position v...

Page 104: ...1957 1 Track_b Table 6 37 Oversampling parameters NOTE l When oversampling is enabled instead of the normal A D signals the oversampled signals for the encoder specified in parameter P 1956 3 sources...

Page 105: ...onics determines the absolute reference when two adjacent reference marks are passed over after just a few degrees of rotation Number of pulses P 542 Number of ref erence marks Basic increment G Nom i...

Page 106: ...n MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 106 6 Encoder 6 14 Overflow in multi turn range With this function the multi turn range can be shifted in order to avoid a possible ov...

Page 107: ...H1 3_Np To make the zero pulse clearly visible the measurement variable remains high until the next zero pulse appears Conversely the measurement variable remains low until another zero pulse appears...

Page 108: ...ntroller settings 140 7 6 Asynchronous motor field weakening 143 7 7 Field weakening and LookUpTable LUT synchronous motor 146 7 8 Synchronous motor auto commutation 156 7 9 V Hz mode 165 7 10 Process...

Page 109: ...in sequence The sequence of controller setup must always be observed in controller optimization 1 Current controller setup 2 Speed controller setup MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive...

Page 110: ...o CB40859 001 Date 11 2020 MSD Servo Drive Device Help 110 7 Control CAUTION Your system motor may be damaged if put into operation in an uncontrolled or inappropriate manner Improper conduct can caus...

Page 111: ...cent in the wizard l The setting 100 reduces the dynamic performance of the controller setting e g for a toothed belt drive l The setting 100 increases the dynamic performance of the controller settin...

Page 112: ...ed or inappropriate manner Improper conduct can cause damage to your system machine l Before the Start step make absolutely sure that a valid setpoint has been entered as the configured setpoint will...

Page 113: ...hes the setpoint the more dynamically the controller is set The overshoot of the actual value should not be more than 5 10 of the setpoint general figure during the settling process l The first step s...

Page 114: ...ngs This produces an initial estimate of the control quality To determine the transfer function the noise amplitude motor rated current and the sampling time default 0 125 ms must be specified Click t...

Page 115: ...high control dynamic performance The current actual value filter is configured with P 1960 0 CON_ACT_ISDQ_TF with the filter time constant being defined in milliseconds Filtered actual currents isd an...

Page 116: ...lculation is complete the parameter P 385 0 automatically jumps back to P 385 0 CON_ TCoggTeachCon READY 0 The teaching and calculation are thus finished The position source used by the teaching has b...

Page 117: ...OG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 117 7 Control table recurring infinite Table index inpos inc 2 32 inc tabsize with tabsize 250 or 4000 Input reference variable via delta...

Page 118: ...41 0 CON_TAB_TabVal Saving takes place in conjunction with the saving of the parameter record in the device s mass memory limitation of the max number of storage cycles MOOG ID No CB40859 001 Date 11...

Page 119: ...lating and compensation continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 119 7 Control 385 CON_TCoggTeachCon __ 10 TeachPosEncRed Teach posact from redundant encoder Actual pos...

Page 120: ...ent 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 smo...

Page 121: ...on once again in exactly the same manner Table 7 5 Overall procedure for detent torque compensation 7 3 5 3 1 Scope recording speed before and after A significant improvement in the speed progression...

Page 122: ...e compensation table P 380 CON_ TCoggAddTab small table with 250 elements 8 Stop control 9 Start the compensation P 382 0 CON_TCoggComp 1 EPSRS After this the q current feed forward control becomes ac...

Page 123: ...t until at least 1 motor revolution is completed in the teaching routine internal filter time Check P 440 0 CON_TAB_TabIndex and P 446 0 CON_TAB_OutVal 11 With the control still operating the teaching...

Page 124: ...angle EPSRS big table Teaching routine and compensation big CompTab 4000 Incremental rotary recurring position Without offset and delta with tuning with fader MOOG ID No CB40859 001 Date 11 2020 MSD S...

Page 125: ...daptation of torque control Saturation characteristic see Section Adaptation of torque control on page 125 l Observer system see Section Current observer on page 127 l Overmodulation see Section Overm...

Page 126: ...t 2 Image 7 17 Diagram Scaling of q inductance L in P 472 0 3 Lsig_q Ix Scaling of q stator inductance in interpolation points 0 to 3 P 472 4 7 MOT_CurrentIx Scaling of rated current in interpolation...

Page 127: ...ver suppresses these harmonic components so that they cannot MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 127 7 Control be passed on to the current controller The disadvantage of th...

Page 128: ...d of 60 of the output frequency This method has only two thirds of the switching losses of modulation with all three phases Disadvantages are higher harmonics of the motor currents and thus less smoot...

Page 129: ...lculated accordingly 1531 0 SCD_Action_Sel Start conditions to determine the torque controller settings FAULT 1 Selected function stopped with fault READY 0 Ready to start function last call successfu...

Page 130: ...4 3 decoup d dt isqref isdref isd isq Pi Regler Kp Tn LsigDiff isq Lsig LsigDiff isq Lsig LsigDiff isq Error Voltage Model Lsig LsigDiff isq Pi Regler Kp Tn LsigDiff isq P 434 3 decoup P 434 4 StatFF...

Page 131: ...ntrol 7 4 Speed controller Image 7 20 Speed controller screen Gain KP Integral action time I Scaling factor for gain With these filters it is possible to filter noise in the actual speed value and inc...

Page 132: ...eed controller gain to the existing external mass inertia For this either the known moment of inertia from the motor data can be used directly or the automatic mass inertia definition function in the...

Page 133: ...oefficient 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 Maxi...

Page 134: ...rable oscillation of the speed controller may occur at low speeds or at zero speed An appropriate setting of P 336 CON_SCON_KpScaleSpeedZero reduces this tendency to oscillate Image 7 23 Reduction of...

Page 135: ...352 4 CON_SCALC_ObsPara 352 5 CON_SCALC_ObsPara 352 6 CON_SCALC_ObsPara 352 7 CON_SCALC_ObsPara 352 8 CON_SCALC_ObsPara Table 7 13 Speed controller Advanced speed control parameter MOOG ID No CB40859...

Page 136: ...ce Help 136 7 Control Bode diagrams PT1 to PT4 Bode plots for band stop filters notch filters Table 7 14 Filter Bode plots No Action 1 Scope setting isq unfiltered torque forming current Set shortest...

Page 137: ...ts 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 F...

Page 138: ...ot of the actual value should not be more than 5 10 of the setpoint general figure during the settling process Table 7 18 Instructions for optimization of the speed controller MOOG ID No CB40859 001 D...

Page 139: ...Legend for Speed controller transfer function ID Index Name Unit Description 401 0 CON_SCON_AddTRef Nm N Additive torque reference 402 0 CON_SCON_AddSRef 1 min Additive speed reference value without r...

Page 140: ...fPos mDegree Setpoint position in user units 279 0 MPRO_FG_UsrPosDiff mDegree Position tracking error in user units 305 0 CON_PConTS ms Position control sampling time 360 0 CON_PCON_Kp 1 min Position...

Page 141: ...Friction torque compensation Speed limit 2 387 3 CON_SCON_TFricSpeed rpm Friction torque compensation Speed limit 3 387 4 CON_SCON_TFricSpeed rpm 388 0 CON_SCON_TConst Friction torque compensation Con...

Page 142: ...d limits 387 3 CON_SCON_TFricSpeed rpm Friction torque compensation Speed limits 387 4 CON_SCON_TFricSpeed rpm Friction torque compensation Speed limits 388 0 CON_SCON_TConst Friction torque compensat...

Page 143: ...0 signifies selection of the 1 n characteristic default l Variant 2 P 341 0 0 signifies selection of the modified 1 n characteristic isd f n MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device...

Page 144: ...CON_FM_VConTn In addition the measured DC link voltage can be smoothed with a P 344 0 CON_FM_VConTF PT1 filter After a motor identification the voltage controller is always active as the rule paramete...

Page 145: ...ld weakening reluctance torque utilization 421 0 CON_FM_FWTabIdx Speed index 421 1 CON_FM_FWTabIdx Torque index 422 0 CON_FM_FWTabId A d current table entry 423 0 CON_FM_FWTabIq A q current table entr...

Page 146: ...different inductances on the d and q axis a reluctance torque can contribute to obtaining better utilization of the overall torque The d and q current have feed forward control in dependence on the t...

Page 147: ...exceeds the overvoltage threshold of the device for 400 V devices approximately 800 V for 230 V devices approximately 400 V this will result in destruction of the Servo Drive if no additional externa...

Page 148: ...ted internally Features l Very fast adaptations with high dynamism are possible open loop control method l Motor parameters must be known quite precisely l If continuous oscillation occurs voltage lim...

Page 149: ...0 CON_FM_FWMode TABLE_MOT_GEN 4 Parameter P 343 CON_FM_ImagTab can be used to configure 16 elements MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 149 7 Control Index 0 7 Motor or cl...

Page 150: ...typical for non salient pole PMSM is no longer adequate to make use of the machine s full potential Consequently special control structures are implemented in the MSD Servo Drive to ensure optimal con...

Page 151: ...and q axis The values for the two inductances must be taken from the motor data sheet or can be determined by means of the motor identification see also section Motor identification on page 45 MOOG ID...

Page 152: ...e Map values with a negative torque are not supported The range of negative torques is mapped on the range of the positive torques by means of sign manipulation 7 7 5 1 Internal calculation of the sma...

Page 153: ...11 2020 MSD Servo Drive Device Help 153 7 Control ID Index Name Setting Description Unit P 421 CON_FM_FWTabIdx P 421 0 Speed index select Selects index for speed P 421 1 Torque index select Selects in...

Page 154: ...ive Device Help 154 7 Control 7 7 5 4 Deleting a table RAM The table to be deleted must first be selected and can subsequently be deleted in your RAM cells 1 Select the table Parameter P 421 2 CON_FM_...

Page 155: ...zation e g when the servo drive is started up If the checksum comparison returns a negative response error 30 7 appears see also section Error list on page 328 MOOG ID No CB40859 001 Date 11 2020 MSD...

Page 156: ...response with voltage controller is unproblematic and no particular demands are made in terms of dynamism the available torque can be optimized by setting P 347 0 CON_FM_VRef to values up to 98 MOOG I...

Page 157: ...d event 366 0 CON_ICOM_RefSpeed rpm commutation detection scaling of control gain 390 0 CON_ICOM Auto commutation Control word for selection Off 0 Function disabled IENCC 1 Current injection LHMES 2 S...

Page 158: ...d to use the rated current Irated The time should be set so that the rotor is at rest during the measurement For control purposes the commutation process can be recorded with the Scope function NOTE l...

Page 159: ...the value is 0 the amplitude is derived from the motor rated current If an amplitude greater than the switching frequency dependent power stage current is specified the amplitude is limited to half t...

Page 160: ...able 7 37 LHMES configuration example NOTE l It is advisable to connect speed tracking error monitoring with the Power stage off error reaction see Section Error reactions on page 325 This monitoring...

Page 161: ...is injected as a test signal 7 8 4 Test signal generator It is possible to form various signal types and transfer them to the control This function is independent of the control mode and has a direct...

Page 162: ...gnal generator deactivated Stop 1 Stop test signal Start 2 Start test signal STOP Cycle 3 TG stops at end of current square cycle Stop Zero 4 TG stops next time reference value passes through zero 150...

Page 163: ...ble 7 38 Parameters of test signal generator for square and sine signal con tinue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 163 7 Control ID Parameter Setting Function Info 1505...

Page 164: ...Symmetry value for delta signal 1513 SCD_TSIG_ Freq2 Upper frequency of the sweep signal f Table 7 38 Parameters of test signal generator for square and sine signal con tinue 7 8 4 2 PRBS signal The...

Page 165: ...d out in V Hz mode This test will show users whether a motor is connected correctly and whether the right direction of movement will be followed If l The direction of movement is the wrong one l The m...

Page 166: ...ler to a reference setpoint value 7 10 1 Features l Process controller calculation in speed controller cycle l Process controller as PI controller with Kp adaptation l Process controller actual value...

Page 167: ...tal inputs on page 290 START_PRC 48 Start process controller setting Bit Name Description 0 On Enabling the process controller 1 Reset Resets the integral term with a ramp P 2680 1 Table 7 41 Control...

Page 168: ...ble 7 43 Selector for reference value source P 2683 0 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 168 7 Control Setting Name Description 6 P_REF Reference pressure Any analog input...

Page 169: ...ble parameter P 2981 14 P 2982 Mappable parameter P 2982 15 P 2983 Mappable parameter P 2983 16 P 2984 Mappable parameter P 2984 See Section Mapping parameters and scope values on page 169 Table 7 44...

Page 170: ...0000 0000 0000 2980 1 MAP_REAL_1 Mapping of REAL_1 parameter 2980 2 MAP_REAL_2 Mapping of REAL_2 parameter 2980 3 MAP_REAL_3 Mapping of REAL_3 parameter 2980 4 MAP_REAL_4 Mapping of REAL_4 parameter...

Page 171: ...page 171 7 10 2 5 Manipulated variable The process controller s manipulated variable downstream of the rate limiter P 2676 0 CON_PRC_OUTVAL can be mapped to various internal drive setpoint or feed for...

Page 172: ...eters ID Index Name Unit Description 2659 0 CON_PRC_Kp Process controller gain 2660 0 CON_PRC_KP_SCALE Process controller gain scaling 2661 0 CON_PRC_Tn ms Process controller integral action time 2662...

Page 173: ...Technological controller output value Process control output value Table 7 49 Parameters relevant for visualizing the process control circuit in the scope MOOG ID No CB40859 001 Date 11 2020 MSD Serv...

Page 174: ...iption 165 0 MPRO_REF_SEL Motion profile Selection 12 HYDRAULIC HYD Hydraulic profile software specific 300 0 CON_CgfCon Select control mode 1 TCON Torque control Hydraulic control 520 0 ENC_MCon Chan...

Page 175: ...1500 rev min v_G 10 cm rev Q_N 14 2 l min MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 175 7 Control If you specify eta_ Vol N the servo drive will internally calculate k_L automat...

Page 176: ...be adjusted online via a pump scaling using P 2879 2 Pump1_DisplScalePDO and P 2879 3 Pump2_DisplScalePDO This allows the displacement volume to be changed variably during the process 7 11 2 1 Speed...

Page 177: ...e for this purpose l i_G 1 _crit p p_N n n_crit dt This takes into account the power loss that has an approximately quadratic relationship to the pressure as well as the heat removal that is proportio...

Page 178: ...chanical destruction P 2840 14 PumpSpdProt 1 It is nonetheless still possible to quickly relieve a high pressure through a negative pump speed Using P 2851 14 15 HYD_Pump it is possible to configure a...

Page 179: ...switching etc 2851 13 tSwValve ms Valve switching time 2851 14 pMin bar Minimum pressure depending on pump protection function 2851 15 pMax bar Maximum pressure depending on pump protection function...

Page 180: ...HYD_Cfg Configure Hydraulic System Control 2840 0 Reserved Reserved 2840 1 pRefSrc Hydraulics Selection of pressure reference source 0 ANA Setpoint of analog input 1 PROFILE Setpoint from profile 284...

Page 181: ...ANA Setpoint from profile 1 PROFILE Reference value from profile 2840 11 CylValveSwSel Function selector for the valve switchover of the cylinder 0 Para Manual valve control 1 Spd Automatic valve swi...

Page 182: ...vo Drive Device Help 182 7 Control A scaling path is available for the actual volumetric flow rate QAct A selection between an analog input or the hydraulic motion profile as the signal source can be...

Page 183: ...10 pRef_Min bar Min 2846 11 pRef_Max bar Max 2846 12 QRef_Scale l min Scaling 2846 13 QRef_Offset l min Offset 2846 14 QRef_Min l min Min 2846 15 QRef_Max l min Max 2846 16 QAct_Scale l min Scaling 2...

Page 184: ...ntroller parameters P 2850 0 Kp and P 2850 2 Tn as the standard pressure control However the control structure differs from the standard pressure controller The pressure limiting controller tends to o...

Page 185: ...shows which limitations can be configured for which control mode l Section 7 11 6 Hydraulic Motion profile describes for which control modes the scaling factor can be used Control mode Pressure limit...

Page 186: ...can be used to specify the limit via the volumetric flow rate value which for example can be set variably using an analog input MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 186 7 Co...

Page 187: ...erence source selector 2840 11 CylValveSwSel Function selector for the valve switchover of the cylinder 2840 12 AltPosCon Alternative position controller 2840 13 AltSpdCon Alternative cylinder speed c...

Page 188: ...ated using a linear encoder and the cylinder geometry P 2840 8 QActCalc To do so various different cylinder dimensions must be passed to the servo drive The different surface areas of the piston and r...

Page 189: ...8 m rev for a 16 bit linear encoder with a resolution of 0 5 m per increment If the current position of the cylinder is transferred via the bus interface P 2298 ComAngle32 the single and multiturn ran...

Page 190: ...itchover it is run down to 0 rpm using the ramp specified in P 2851 12 stopRamp Selection of operation mode l 0 PARA Setpoint setting from table table index P 2860 set using parameter access BUS PLC M...

Page 191: ...der Table 7 59 Hydraulic Operation mode parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 191 7 Control For communication with a higher level controller in the CTRL1 and CTRL2...

Page 192: ...nactive 15 Pressure limitation in Q4 inactive Table 7 61 Hydraulic control word What the bits mean MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 192 7 Control ID Index Name Unit Desc...

Page 193: ...lock table contains 16 motion blocks which can be parametrized Index 0 to 15 The control mode reference values and ramps as well as the valve positions and switching conditions can be specified in eac...

Page 194: ...d of the setpoint MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 194 7 Control ID Index Name Unit Description 2858 HYD_dRef Hydraulic 1st setpoint derivative 2858 0 15 HYD_dRef HYD_UN...

Page 195: ...it Volumetric flow rate limit NPumpCon 4 PressCon 0 x VolCon 5 VolConPlim 1 x SpdCon 2 SpdCon_QFF SpdCon_pLimit x Table 7 73 Hydraulic Limitations MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive D...

Page 196: ...setpoint Here you can choose between two controller structures using P 2840 16 AltPressCon The selection PressCon_nPump 0 outputs a pump speed at the output of the controller which is directly forwar...

Page 197: ...using P 2863 HYD_TabCtr bit 12 In order to provide feedback to a higher order control system a setpoint window for Pressure reached Para 2850 9 PressWindow can be specified If the actual value is wit...

Page 198: ...on 2850 5 pMin bar Minimum permissible pressure 2850 6 pMax bar Maximum permissible pressure 2850 7 QMin l min Minimum flow rate 2850 8 QMax l min Maximum flow rate 2850 9 PressWindow bar Pressure con...

Page 199: ...so the pressure regulator must also be parametrized and set In addition to the pressure limitation the minimum and maximum volumetric flow rate can be set via a volumetric flow rate limitation see Se...

Page 200: ...ut pressure limitation can be selected in P 2860 HYD_TabConMode This provides the same functions but is not linked to the pressure control Moreover the pressure regulator does not need to be parametri...

Page 201: ...le Scaling for pAct2 2850 14 pRange_k Pressure range threshold 2850 15 pRange_midpoint bar Pressure range midpoint Table 7 82 Hydraulic Volumetric flow rate parameters continue 7 11 9 Speed control Th...

Page 202: ...itation a special mode with a downstream pressure regulator has been implemented In this case the pressure limitation as well as the scaling of the pressure limitation are in effect for the individual...

Page 203: ...ms Integral action time 2850 5 pMin bar Minimum permissible pressure 2850 6 pMax bar Maximum permissible pressure 2850 7 QMin l min Minimum flow rate 2850 8 QMax l min Maximum flow rate 2850 9 PressWi...

Page 204: ...enerated by the position controller due to the unchanged control deviation The actuating valves can be controlled in different modes see Section Hydraulic Motion profile on page 190 Moreover the volum...

Page 205: ...d The control can be designed to suit the different cylinder surface sizes using parameters P 2870 3 KpScale and P 2870 5 KpScaleNeg MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 205...

Page 206: ...eedback concerning the completion of the positioning operation It is important to bear in mind that the position window is turned in dependence on the direction of the positioning operation see Image...

Page 207: ...position controller MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 207 7 Control Image 7 80 Digital Filter Hydraulics Screen Via P 2876 HYD_AdvFilSel the filter can be activated and t...

Page 208: ...ervo Drive Device Help 208 7 Control ID Index Name Unit Description 2877 HYD_AdvFilCoeff Advanced Filter Coefficients electronic damping 2877 0 BiQuad filter 1 a1 Hydraulic advanced filter coefficient...

Page 209: ...o between the motor and the pump are set MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 209 7 Control Image 7 82 Pump settings screen ID Index Name Value Unit Description Type PDO 285...

Page 210: ...ata settings continue In this example the actual pressure values will be evaluated using analog inputs ISA00 and ISA01 Image 7 83 Standard analog inputs screen MOOG ID No CB40859 001 Date 11 2020 MSD...

Page 211: ...ors settings The control dynamic performance and the pressure and volumetric flow rate limits for the pressure control are configured in P 2850 HYD_PressCon Image 7 85 Pressure control screen MOOG ID...

Page 212: ...caling Scaling float32 9 pRef_Offset 0 bar Offset float32 10 pRef_Min 100 bar Min float32 11 pRef_Max 100 bar Max float32 20 nRef_Scale 1 1 min Scaling Scaling float32 21 nRef_Offset 0 1 min Offset fl...

Page 213: ...iption Type PDO 2841 0 HYD_Ctrl 0000000000100000b Hydraulic system control uint16 x 2842 0 HYD_State 0000000000000000b Hydraulic Status of the control functions uint16 x Table 7 95 Control and status...

Page 214: ...oat32 x 2859 1 HYD_d2Ref 0 HYD_ UNIT s s Hydraulic 2nd setpoint derivative float32 x 2860 1 HYD_ConMode PUMP_ SPEED Hydraulic Control Mode uint8 x Table 7 97 Einstellung Tabellenindex 1 7 11 13 Exampl...

Page 215: ...Help 215 7 Control ID Index Name Value Unit Description 2851 8 TCritical 10 s Max permissible time at low speed and nominal pressure 2851 9 iGearPump 1 Gear ratio between pump and motor 2851 10 p0 20...

Page 216: ...rameters The following must be specified here the SingleTurn and MultiTurn bits die encoding and the minimum MultiTurn position ID Index Name Value Unit Description 543 0 ENC_CH1_MultiT 5 Number of mu...

Page 217: ...ntrol underlies the position control the following settings must be made beforehand The parameter P 2840 8 QActCalc can be used to select whether the volumetric flow rate value is to be taken from a s...

Page 218: ...able using a timer To do so the table operating mode P 2862 HydOpMode must be set to Tab 4 via motion block table Tab 2 valve control via motion block table was selected for the valve control P 2840 1...

Page 219: ...Unit Description 2857 HYD_Ref 2857 0 15 HYD_Ref Hydraulic Setpoint for volumetric flow rate pressure speed position Table 7 104 Hydraulic Reference value parameters 1st reference value derivative ID...

Page 220: ...D Index Name Unit Description 2866 HYD_TabAltIdx 2866 0 15 HYD_TabAltIdx Hydraulic table next alternative index Table 7 110 Parameter Hydraulic table next alternative index Hydraulic Switching conditi...

Page 221: ...2 8 2 Scaling Units 223 8 3 Basic settings 241 8 4 Stop ramps 248 8 5 Homing 249 8 6 Jog mode 264 8 7 Reference table 265 8 8 Analog channel ISA00 und ISA01 270 8 9 State machine 273 8 10 Touch probe...

Page 222: ...User defined Setting of control and reference value channel l Control Reference l Profile l Interpolation l Limitation l Reference filter l Smoothing Stop ramps Reaction l to Shutdown l to Disable l...

Page 223: ...Units As soon as you select Standardization units the Standardization Wizard used to select a standardization profile will appear Image 8 2 Standardization profile selection screen The wizard helps en...

Page 224: ...n modes CSV CSP CST via fieldbus scaling must be performed using the CiA 402 scaling assistant MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 224 8 Motion profile Image 8 4 Standardiz...

Page 225: ...to the output side revolution Gear ratio if available Ratio of one motor revolution before the gearing to the number of revolutions on the gear output side The values for the gear ratio are entered in...

Page 226: ...PosEncRes 608FH DS402 position encoder resolution 2252 0 MPRO_402_ PosEncRes incr Encoder increments 2252 1 MPRO_402_ PosEncRes rev Motor revolution 2253 MPRO_402_VelEncRes 6090H DS402 velocity encode...

Page 227: ...n Example of a revolution with a circumferential length of 360 setting Direction of rotation left right The circumferential length is set to 360 In positive direction after reaching 360 the actual pos...

Page 228: ...he drive moves to the target position within 360 Target position circumference 120 120 The drive remains in position Target position circumference 600 360 240 The drive moves to the position within th...

Page 229: ...720 8 2 2 SERCOS When using the SERCOS profile scaling of the units is termed weighting The weighting describes the physical unit and the exponent with which the numerical values of the parameters exc...

Page 230: ...load gear 10122 0 COM_SER_ GearRatioDenom Output revolutions of load gear 10123 0 COM_SER_FeedConst um rev Feed constant 10160 0 COM_SER_ ScaleTypAcc Acceleration data scaling type 10161 0 COM_SER_ S...

Page 231: ...g within this context MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 231 8 Motion profile Image 8 13 Position data weighting method Position polarity The polarity of the position data...

Page 232: ...weighting LSB Degrees 3 600 000 0 0001 m Table 8 7 Weighting for rotary motion default setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 232 8 Motion profile 8 2 2 2 Speed Image...

Page 233: ...g here Speed polarity The polarity of the speed data can be inverted according to the application A positive speed reference indicates clockwise rotation looking at the motor shaft MOOG ID No CB40859...

Page 234: ...B Degrees 3 600 000 0 001 m min Table 8 9 Weighting for rotary motion default setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 234 8 Motion profile 8 2 2 3 Unit of torque power...

Page 235: ...he motor is used as the reference value All torque force data is given in with one decimal place Torque polarity The polarity of the torque can be inverted according to the application A positive torq...

Page 236: ...eighting LSB Nm 1 0 01 Nm LSB Unit Exponent Table 8 11 Weighting for rotary motion default setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 236 8 Motion profile 8 2 2 4 Unit of...

Page 237: ...leration is scaled using the SERCOS wizard A distinction must be made between linear and rotary weighting here MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 237 8 Motion profile Imag...

Page 238: ...G ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 238 8 Motion profile Image 8 23 Schematic of user defined scaling ID Index Name Unit Description 163 0 MPRO_FG_Config Factor group configur...

Page 239: ...s to 360 or 1048576 increments l Speed in rpm l Acceleration in rpm s l Positioning in degrees Given l Position unit P 0284 MPRO_FG_PosUnit m l Speed unit P 0287 MPRO_FG_SpeedUnit m s MOOG ID No CB408...

Page 240: ...rotary system 270 MPRO_FG_PosNom Increments per revolution 1048576 incr rev 271 MPRO_FG_Nom Numerator 1 rev 272 MPRO_FG_Den Denominator 32000 m Table 8 16 Parameters for user defined scaling linear s...

Page 241: ...nfig of specific profiling behaviour 301 0 CON_REF_Mode Mode selection of setpoint profiling 306 0 CON_IpRefTS ms Sampling time for interpolation 335 0 CON_SCON_DirLock Direction lock for speed refere...

Page 242: ...PG mode smoothing 8 3 2 PG mode with position control Travel commands are transmitted to the internal profile generator see Section Basic settings on page 241 It is composed of the following items l...

Page 243: ...243 8 Motion profile Interpolation IP mode l Reference values are interpolated in linear mode before being switched to the control loops l The profile generator is inactive l Ramps and smoothing are i...

Page 244: ...speed and acceleration are switched to the control loops l For more information on the cycle time see the field bus documentation MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 244 8...

Page 245: ...raking ramp 0 so the jerk is maximum red curve MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 245 8 Motion profile Image 8 31 Maximum jerk Red actual speed grey actual position The ac...

Page 246: ...nding on the functions chosen a different interpolant is obtained Interpolation is a kind of approximation the function under analysis is precisely reproduced by the interpolation function at the inte...

Page 247: ...er polynomials the usual term used is spline interpolation In the case of sectionally defined interpolants the question of consistency and differentiation at the interpolation points is of major impor...

Page 248: ...o the corresponding reserved parameters in the relevant bus system All decelerations should be disabled in the controller P 375 0 CON_IP_SFFScale and P 376 CON_IP_TFFScale must be used to perform the...

Page 249: ...219 0 MPRO_402_ShutdownOC 605BH DS402 reaction to control shutdown 2220 0 MPRO_402_DisableOpOC 605CH DS402 disable operation option code 2221 0 MPRO_402_HaltOC 605DH DS402 halt option code 2222 0 MPRO...

Page 250: ...CB40859 001 Date 11 2020 MSD Servo Drive Device Help 250 8 Motion profile NOTE l The reference mark signal can be optionally linked to one of the ISD05 and ISD06 fast digital inputs 8 5 1 1 Homing to...

Page 251: ...Method 5 Absolute encoder on page 254 However in this method the home offset is used to define the machine zero point while in method 5 it is used to define the offset relative to the encoder s absolu...

Page 252: ...rque can be reduced specifically during the homing operation To do so parameter P 0225 MPRO_REF_HOMING_TMaxScale must be set in the range of 0 100 Note that this parameter replaces parameter P 0332 CO...

Page 253: ...y during the homing operation To do so parameter P 0225 MPRO_REF_HOMING_TMaxScale must be set in the range of 0 100 Note that this parameter replaces parameter P 0332 CON_SCON_TMaxScale during the hom...

Page 254: ...s Referencing is performed immediately after a mains power up The reference position is calculated on the basis of the encoder absolute position plus zero offset In the case of a SSI multi turn encode...

Page 255: ...corresponds to zero reference point Image 8 45 Negative limit switch and zero pulse 8 5 7 2 Method 2 Positive limit switch and zero pulse l Start movement right at this time the hardware limit switch...

Page 256: ...mark is the zero point homing point Image 8 47 Start condition for positive limit switch 8 5 8 2 Method 4 Start movement in direction of negative left hardware limit switch l Start movement in directi...

Page 257: ...mark l Start movement in direction of the negative limit switch if the reference mark is inactive Image 8 49 Positive right hardware limit switch and zero pulse 8 5 9 2 Method 5 Start movement in dire...

Page 258: ...he reference mark is active l The direction of movement reverses after a falling edge from the reference mark The zero point corresponds to the first zero pulse after a rising edge from the reference...

Page 259: ...esponds to the first zero pulse after the falling edge l Zero point at the first zero pulse after falling edge from the reference mark l Movement must have gone beyond the reference mark then the firs...

Page 260: ...onds to the first zero pulse if the reference mark is active Image 8 57 Reversal of direction of movement 8 5 11 4 Method 14 l The zero point corresponds to the first zero pulse after crossing the ref...

Page 261: ...otion profile 8 5 13 Method 17 to 30 Reference mark 8 5 13 1 Method 17 to 30 Homing methods 17 to 30 are equivalent to methods 1 to 14 The determination of the homing point is independent of the zero...

Page 262: ...switches Method 20 corresponds to method 4 Method 8 corresponds to method 24 Method 12 corresponds to method 28 Method 14 corresponds to method 30 Table 8 21 Method comparison of the individual homing...

Page 263: ...ro pulse 8 5 15 2 Method 34 Rightward travel direction The zero pulse corresponds to the first zero pulse to the right Image 8 61 Homing with zero pulse MOOG ID No CB40859 001 Date 11 2020 MSD Servo D...

Page 264: ...he first activated of the two Fast jog mode right is used ID Index Name Unit Description 168 MPRO_REF_ JogSpeeds Jog mode speeds 168 0 FastJogSpeed rev min Fast jog speed 168 1 SlowJogSpeed rev min Sl...

Page 265: ...e reference table up to 16 reference values can be defined In the process the drive moves to its targets in conformance to the respective driving sets Depending on the selected control mode each refer...

Page 266: ...is operation is repeated until the drive is stopped or the table is disabled There will be a wait time of P 204 MPRO_TAB_WaitTime between the individual driving jobs l BUS 3 via fieldbus Selection of...

Page 267: ...motion task is transmitted If a table value with the setting ABS or REL is additionally selected the infinite job is quit and the newly selected table value is approached from the current position Spe...

Page 268: ...tuation via digital inputs Input ISDxx TBEN Enable a selected driving set The selection of a new motion task always interrupts an ongoing positioning and the follow up job logic Actuation via digital...

Page 269: ..._TAB_PSpd TAB Position control mode speed 201 0 MPRO_TAB_PSpd rev min 201 1 15 MPRO_TAB_PSpd rev min 202 MPRO_TAB_PPos TAB Position control mode reference value 202 0 MPRO_TAB_PPos mDegree 202 1 15 MP...

Page 270: ...ode being used see Section Basic settings on page 110 the value will be stored in parameter index 0 torque control 1 speed control or 2 position control Backlash B This parameter P 175 MPRO_ANA0_SThre...

Page 271: ...on page 290 The position setpoint being received will only be applied if the corresponding digital input is active The acceleration is entered using P 173 0 MPRO_ANA0_TScale or P 183 0 MPRO_ANA1_TSca...

Page 272: ...alog channel ISA00 parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 272 8 Motion profile ID Index Name Unit Description 174 1 MPRO_ANA0_SOffset rev min ANA0 offsets for speed...

Page 273: ...e The system state of the drive is basically managed by the central state machine according to CiA 402 However the transitions and states which the state machine passes through are dependent on the dr...

Page 274: ...s indicated on the display may differ from the states in the table depending on the drive profile setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 274 8 Motion profile Start not...

Page 275: ...tive edge 2 NEG 2 Negative edge 3 BOTH 3 Both edges 240 0 MPRO_TP_Ctrl 240 1 MPRO_TP_Ctrl 240 2 MPRO_TP_Ctrl 241 MPRO_TP_Position Probe Pos high low edge of TP0 1 encoder zero pulse Table 8 29 Touch p...

Page 276: ...e bus system User Manuals or the description of the MSD PLC MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 276 8 Motion profile 8 11 Synchronized motion The Synchronized Movement func...

Page 277: ...001 Date 11 2020 MSD Servo Drive Device Help 277 8 Motion profile 8 11 1 Electronic cam plate 8 11 1 1 Table selection ID Index Name Unit Description 1300 0 MPRO_ECAM_CTS_ MasterRef ECAM CamTableSelec...

Page 278: ...gment 1336 0 to 63 MPRO_ECAM_SegData_ ControlWord ECAM Control word of the current segment Table 8 33 Electronic camming Table segments parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive D...

Page 279: ...tart Egear MCB_GearIn 31 Stop Egear MCB_GearOut Table 8 35 Control word ECAM P 1318 0 MPRO_ECAM_ControlWord MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 279 8 Motion profile 8 11 3...

Page 280: ...higher level controller is being used as MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 280 8 Motion profile the master encoder you will need to set the resolution relative to a singl...

Page 281: ...tes in the unblocked direction MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 281 8 Motion profile l Slave only starts moving along with it again as soon as the master reaches the zer...

Page 282: ...r_ActAcc rpm s ECAM EGEAR Parameter interface master acceleration 250 0 MPRO_ECAM_ ParaMaster_Amplitude ECAM EGEAR Parameter interface master amplitude Table 8 37 Synchronized motion Master configurat...

Page 283: ...g of speed pre control Defined with P 265 0 MPRO_ECAM_CamSlave_SpeedFactor definiert Scaling of torque pre control Defined with P 266 0 MPRO_ECAM_CamSlave_TorqueFactor Engagement See Section Engagemen...

Page 284: ...position is ignored There always remains a variation between reference and actual position P 257 0 see below is MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 284 8 Motion profile use...

Page 285: ...jerking no ramps l RAMP 1 Linear speed ramp Disengagement with linear deceleration With jerking P 256 0 see below MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 285 8 Motion profile c...

Page 286: ...erk rpm s 2 EGEAR GearOut acceleration ramp jerk for disengagement Table 8 40 Synchronized motion Electronic gearing Disengagement para meters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Devic...

Page 287: ...master Control word 1408 0 MPRO_CMST_ StatusWord Common master Status word 1409 MPRO_CMST_Para Data of common master 1409 0 Source Source of value processing 1409 1 Destination Destination of value p...

Page 288: ...ue 2923 0 MPRO_DATA_Upper Reference upper limit value 2924 0 MPRO_DATA_Lower Reference lower limit value 2925 0 MPRO_DATA_Ref Reference value 2926 0 MPRO_DATA_Signal Signal selection 2927 0 MPRO_DATA_...

Page 289: ...Servo Drive Device Help 289 9 Inputs Outputs settings 9 1 Inputs Outputs settings Image 9 1 Inputs Outputs settings screen The buttons on this screen can be used to access and configure the individua...

Page 290: ...t overlap with the digital outputs functionality Moreover analog outputs are only available when using X8 option modules l The motor brake output is a digital output with special hardware for driving...

Page 291: ...vice Help 291 9 Inputs Outputs settings l The touch probe function is only available at ISD05 P 106 0 MPRO_ INPUT_FS_ISD05 and ISD06 P 107 0 MPRO_INPUT_FS_ISD06 l All inputs can be switched from activ...

Page 292: ...9 Start homing according to the homing method parameterized in P 02261 MPRO_402_ Homing Method HOMSW 10 Homing switch to determine the zero for positioning E_EXT 11 External error Error messages from...

Page 293: ...controller Table 9 2 Function selectors Digital inputs continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 293 9 Inputs Outputs settings 9 2 3 Hardware enable power stage MSD Ser...

Page 294: ...al inputs field on the input screen for the digital inputs will open a visualization showing the digital inputs states MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 294 9 Inputs Outp...

Page 295: ...Reference from table PLC_BASIC 4 Profile via PLC definition PLC 5 Reference from PLC PARA 6 Reference via parameter DS402 7 Reference via CiA 402 IEC1131 Sercos 8 Reference via SERCOS PROFI 9 Referen...

Page 296: ...PD_UP 2 TP0 TP1 as encoder pulse TP0 direction TP1 count up on direction high means both the speed and the direction can be changed To find out which setting is possible see the description of the pa...

Page 297: ...e counter on probe channel 1 TP1 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 297 9 Inputs Outputs settings Image 9 7 Pulse direction master configuration In the screen select Elect...

Page 298: ...tal output OSD01 124 0 MPRO_OUTPUT_FS_OSD02 Function of digital output OSD02 142 0 MPRO_OUTPUT_INV Output inv OSD0 2 0 2 MBRK 6 REL1 2 7 15 OED0 7 16 23 Table 9 7 Digital standard outputs parameters 9...

Page 299: ...orce threshold reached TBACT 34 Table positioning in AUTO and activated state TAB0 35 Actual table index 2 0 TAB1 36 Actual table index 2 1 TAB2 37 Actual table index 2 2 TAB3 38 Actual table index 2...

Page 300: ...ges MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 300 9 Inputs Outputs settings l Depending on the configured function the Options button may become enabled If it is this button can...

Page 301: ...input are thus taken into account MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 301 9 Inputs Outputs settings Image 9 11 Threshold definition 9 3 6 Reference limitation LIMIT 14 The...

Page 302: ...abling the power stage In the opposite case the contacts must remain closed until the power stage has been switched off Corresponding safety time periods for the motor contactor switching must be impl...

Page 303: ...separately For more details on how to use gain factors see Section Analog input scaling on page 305 l P 429 2 ISA00_limMin and P 429 3 ISA01_limMin can be used to assign a lower limit to each analog i...

Page 304: ...HYD_P_ACT 7 Hydraulic actual pressure software specific HYD_P_REF 6 Hydraulic reference pressure software specific VFC_REF_SCALE 5 VFC reference scaling 0 100 software specific TLIM 4 Analog torque l...

Page 305: ...ed voltage ranges will yield the values for the offset P 428 CON_ANA_Offset and gain P 429 CON_ANA_Gain Depending on the function selected for the ISAxx analog input with the function selector it will...

Page 306: ...he analog inputs are used as feedback for control circuits they will be sampled every 125 s l If functions are assigned to the analog inputs using P 109 0 P 110 0 the inputs will be sampled every 1 ms...

Page 307: ...S_ OEAxx Function selectors for analog outputs OFF 0 No function NACT 1 Actual speed TACT 2 Actual torque force IRMS 3 Effective current PARA 4 Value of parameter 134 0 ACTPOS 5 Position actual value...

Page 308: ...e for the digital outputs for the motor brake output However the special motor brake control section hardware will be used for the selected function However when using a motor brake with P 125 0 MPRO_...

Page 309: ...me ms Motor brake Torque fade time Table 9 16 Motor brake details parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 309 9 Inputs Outputs settings ID Index Name Unit Descriptio...

Page 310: ...10 Limitations Thresholds 10 1 Settings Image 10 1 Limitations and thresholds screen To protect the device the motor and the complete plant it is necessary to limit the variables torque speed and pos...

Page 311: ...trol standstill 746 0 MON_UsrPosWindow mDegree Setpoint reached pos window Table 10 1 Limits thresholds parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 311 10 Limitations Th...

Page 312: ..._SCON_SMaxScale Scaling of motor speed limit 740 0 MON_SpeedThresh rpm Monitoring speed threshold 744 0 MON_SDiffMax rpm Speed tracking error Table 10 3 Limits thresholds Speed limits parameters MOOG...

Page 313: ...313 10 Limitations Thresholds 10 5 Power stage l If the value for the DC link voltage exceeds the value set in parameter P 747 0 MON_PF_OnLimit error ERR 34 Power failure detected is reported and the...

Page 314: ...tus l The status for the most important warnings can be checked with l The Warnings pictogram on the quick launch toolbar or via l Project tree Device setup Alarms warnings Warning status A visual rep...

Page 315: ...t No Meaning 0 I2xt integrator motor warning threshold exceeded 1 Heat sink temperature 2 Motor temperature 3 Interior temperature 4 Reserved for SERCOS 5 Excessive speed 6 Reserved for SERCOS 7 Reser...

Page 316: ...020 MSD Servo Drive Device Help 316 11 Alarms warnings 11 2 Alarms and warnings Details Image 11 3 Alarms and warnings Details screen To open an overview of the current error and a history containing...

Page 317: ...mmentId Additional comment id 31 24 CommentText Additional comment text 31 25 Line Line of error occurrence Table 11 3 Alarms warnings Details parameters MOOG ID No CB40859 001 Date 11 2020 MSD Servo...

Page 318: ...medy Error remedy Table 11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 318 11 Alarms warnings ID Index Name Unit Description 31 92 ID...

Page 319: ...ameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 319 11 Alarms warnings ID Index Name Unit Description 31 158 CommentId Additional comment id 31 159 CommentText Additio...

Page 320: ...e 11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 320 11 Alarms warnings ID Index Name Unit Description 70 26 TimePowerStage Power stag...

Page 321: ...Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 321 11 Alarms warnings ID Index Name Unit Description 70 82 TimePowerStage Power stage time...

Page 322: ...11 3 Alarms warnings Details parameters continue MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 322 11 Alarms warnings ID Index Name Unit Description 70 138 TimePowerStage Power stage...

Page 323: ...rvoltage 730 1 UnderVoltage_OFF V DC link undervoltage 730 2 OverVoltage_ON V DC link Overvoltage 730 3 OverVoltage_OFF V DC link Overvoltage 730 4 I_ON A Motor current 730 5 I_OFF A Motor current 730...

Page 324: ...umber and an error ER for Error flashes then the error number and then the number of the error location Example ER 16 01 Display readout Function Attention error message Errors marked with a dot on th...

Page 325: ...ERR_Specific2OptCode can be used to define an additional error response if the Servo Drive features an optional function package Error reaction Function Ignore 0 Ignore error Exception For the HW limi...

Page 326: ...tion on overvoltage in DC link 30 5 Reac_OverCurrent Error reaction on overcurrent 30 6 Reac_OvertempMotor Error reaction on over temperature motor 30 7 Reac_OvertempInverter Error response Power stag...

Page 327: ...ded 30 46 Reac_PositionLimit Error response Software limit switch 30 47 Reac_FSAFE_ NonSafetySystem Reaction on FSAFE error in non safety system 30 48 Reac_NmtStateChanged Error response NMT state cha...

Page 328: ...2020 MSD Servo Drive Device Help 328 11 Alarms warnings 11 6 2 2 Error 1 1 emergency code 6010h Cause Error while installing a dynamic module Suggested steps This is probably a software issue l Please...

Page 329: ...s is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it come...

Page 330: ...if the error persists or if it comes with activating a certain feature MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 330 11 Alarms warnings 11 6 3 2 Error 2 2 emergency code 6320h Ca...

Page 331: ...fferent version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature MOOG ID No CB40859 001 Da...

Page 332: ...switching frequency is not supported Suggested steps Choose different voltage level and or switching frequency This issue is probably caused by an unsuitable parameter setting l Save your parameter s...

Page 333: ...This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it c...

Page 334: ...bly switched off l Please check if the actual grid voltage matches the supply setting parameter PST_ VoltageSupply l Verify that the grid is stable under load condition MOOG ID No CB40859 001 Date 11...

Page 335: ...net connection to earth l Check motor grounding and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 335 11 Alarms warnings 11 6 6 2 Error 5 2 emergency code 2350h Ca...

Page 336: ...ion to earth l Check motor grounding and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 336 11 Alarms warnings 11 6 6 4 Error 5 4 emergency code 2250h Cause Short c...

Page 337: ...th l Check motor grounding and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 337 11 Alarms warnings 11 6 6 6 Error 5 6 emergency code 2350h Cause Total current mon...

Page 338: ...ng and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 338 11 Alarms warnings 11 6 6 8 Error 5 8 emergency code 2350h Cause Maximum fault current absolut sum current...

Page 339: ...ps Please check PTC cable and sensor The motor temperature is too high l Please let the motor cool down l Please check motor temperature and motor temperature resistance PTC sensors do not report the...

Page 340: ...turer if the motor can stand a higher temperature MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 340 11 Alarms warnings 11 6 7 5 Error 6 5 emergency code 4310h Cause Motor protection...

Page 341: ...er measures fail to solve the problem please replace the servo drive MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 341 11 Alarms warnings 11 6 9 Error 8 Device inside temperature err...

Page 342: ...using an axis module with higher current rating MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 342 11 Alarms warnings 11 6 11 Error 10 I2t power amplifier error 11 6 11 1 Error 10 1 e...

Page 343: ...er the switching frequency or enable automatic frequency selection l Check if the encoder offset is set properly l Consider using an axis module with higher current rating MOOG ID No CB40859 001 Date...

Page 344: ...backplane and cabinet connection to earth l Check motor grounding and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 344 11 Alarms warnings 11 6 13 2 Error 12 2 em...

Page 345: ...tion to earth l Check motor grounding and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 345 11 Alarms warnings 11 6 13 4 Error 12 4 emergency code 8130h Cause CAN...

Page 346: ...ude your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 346 11 Alarms warnings 11 6 13 6 Error 12 6 emergency code 8200h Cause CAN option mapping error Sugg...

Page 347: ...and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 347 11 Alarms warnings 11 6 13 8 Error 12 8 emergency code FF00h Cause CAN option Error while parameter initialis...

Page 348: ...data due to distortion Lightwave power does not match to the cable length Please check the cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 348 11 Alarms warnings 11 6 14...

Page 349: ...e if the error occurs again l When reporting this error to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 349 11 Al...

Page 350: ...device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 350 11 Alarms warnings 11 6 14 11 Error 13 11 emergency code FF00h Cause Sercos option Error while parameter...

Page 351: ...e latest changes l Please check your parameter set for implausible settings l Please set device to factory setting restart and see if the error occurs again l When reporting this error to your service...

Page 352: ...connected from the master controller or the master is overloaded l Please check the bus system connection Try to replace the cables l Please try to reduce computational load on the master l Try to inc...

Page 353: ...MSD Servo Drive Device Help 353 11 Alarms warnings 11 6 15 5 Error 14 5 emergency code 8130h Cause Missing Ethercat receive process data on Sync Manager 2 Suggested steps This is possibly an EMC issue...

Page 354: ...ing this error to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 354 11 Alarms warnings 11 6 16 2 Error 15 2 emerge...

Page 355: ...partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 355 11 Alarms warnings 11 6 16 4 Error 15 4 emergency code FF00h Cause Error in...

Page 356: ...tner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 356 11 Alarms warnings 11 6 16 6 Error 15 6 emergency code 6320h Cause Error while i...

Page 357: ...please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 357 11 Alarms warnings 11 6 16 8 Error 15 8 emergency code 8400h Cause Unknown speed calc...

Page 358: ...ps This issue is probably caused by an unsuitable parameter setting l Save your parameter set for a later restore l See history of parameter changes and undo the latest changes l Please check your par...

Page 359: ...ervice tool access Suggested steps Check your network connection MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 359 11 Alarms warnings 11 6 16 13 Error 15 14 emergency code FF00h Caus...

Page 360: ...Check power fail parameters or disable function MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 360 11 Alarms warnings 11 6 16 18 Error 15 19 emergency code FF00h Cause Error in cammin...

Page 361: ...ease try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature...

Page 362: ...connection to earth l Check motor grounding and motor cable length MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 362 11 Alarms warnings 11 6 17 2 Error 16 2 emergency code 8400h Caus...

Page 363: ...ccurs when switching on motor control and or when connecting DC link power supply l Please check the device cabling for proper connection l Please check device grounding i e the connection to a metal...

Page 364: ...8612h Cause Homing Limit switch error Suggested steps Please check the limit switches There is a problem with the digital analog inputs l Please check the 24V I O wiring function assignment and inver...

Page 365: ...tion control mode MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 365 11 Alarms warnings 11 6 19 9 Error 18 9 emergency code FF00h Cause Homing Encoder initialization error Suggested s...

Page 366: ...e Suggested steps Call your service provider This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis module to factory...

Page 367: ...e problem please replace the servo drive MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 367 11 Alarms warnings 11 6 20 5 Error 19 5 emergency code 5400h Cause PST Error reading power...

Page 368: ...1 Date 11 2020 MSD Servo Drive Device Help 368 11 Alarms warnings 11 6 20 9 Error 19 9 emergency code 5300h Cause Flash memory failure Suggested steps Switch off on device Please contact your service...

Page 369: ...s or if it comes with activating a certain feature This is possibly a hardware issue If other measures fail to solve the problem please replace the servo drive MOOG ID No CB40859 001 Date 11 2020 MSD...

Page 370: ...rtain feature MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 370 11 Alarms warnings 11 6 20 17 Error 19 17 emergency code 5300h Cause Safety system run up with illegal firmware Sugges...

Page 371: ...Error 19 22 emergency code 5300h Cause Functionality or hardware not supported in this software version Suggested steps Please contact your service provider This is probably a software issue l Please...

Page 372: ...al speed limitation or increase speed control gain for stronger limitation MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 372 11 Alarms warnings 11 6 21 2 Error 20 2 emergency code 86...

Page 373: ...nitialization l This is a common error number used for several initialization errors which have no own error number MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 373 11 Alarms warnin...

Page 374: ...mmutation angle ECOFF between motor phases and encoder mounting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 374 11 Alarms warnings 11 6 22 5 Error 21 6 emergency code 7305h Cause E...

Page 375: ...encoder mounting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 375 11 Alarms warnings 11 6 22 9 Error 21 12 emergency code 7305h Cause Electronic nameplate process block error group...

Page 376: ...gle ECOFF between motor phases and encoder mounting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 376 11 Alarms warnings 11 6 22 13 Error 21 23 emergency code 7305h Cause Electronic...

Page 377: ...tation angle ECOFF between motor phases and encoder mounting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 377 11 Alarms warnings 11 6 22 17 Error 21 27 emergency code 7305h Cause El...

Page 378: ...gle ECOFF between motor phases and encoder mounting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 378 11 Alarms warnings 11 6 22 21 Error 21 31 emergency code 7305h Cause Electronic...

Page 379: ...ode 7305h Cause Channel 1 Initialization SinCos Line count with SinCos absolute encoder must be 2 n Suggested steps Please enter a line count of 2 n number of tracks Initialization encoder channel 1 l...

Page 380: ...the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 380 11 Alarms warnings 11 6 23 5 Error 22 5 emergency code 7305h Cause Channel 1 Initialization EndDat 2 1 err...

Page 381: ...DRIVEADMINISTRATOR 5 l The most common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 381 11 Alarms warnings 11 6 23 9 Error 22 9 emergenc...

Page 382: ...the Moog DRIVEADMINISTRATOR 5 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 382 11 Alarms warnings 11 6 23 13 Error 22 17 emergency code 7305h Cause Channel 1 Initialization SSI pari...

Page 383: ...wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 383 11 Alarms warnings 11 6 23 17 Error 22 24 emergency code 7305h Cause Channel 1 Initialization HIPERFACE impos...

Page 384: ...Moog DRIVEADMINISTRATOR 5 l The most common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 384 11 Alarms warnings 11 6 23 21 Error 22 28 em...

Page 385: ...ts in the message window of the Moog DRIVEADMINISTRATOR 5 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 385 11 Alarms warnings 11 6 23 25 Error 22 32 emergency code 7305h Cause Chann...

Page 386: ...oog DRIVEADMINISTRATOR 5 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 386 11 Alarms warnings 11 6 23 29 Error 22 36 emergency code 7305h Cause Channel 1 Initialization HIPERFACE not...

Page 387: ...window of the Moog DRIVEADMINISTRATOR 5 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 387 11 Alarms warnings 11 6 23 33 Error 22 41 emergency code 7300h Cause Channel 1 3 Initializa...

Page 388: ...the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 388 11 Alarms warnings 11 6 23 37 Error 22 45 emergency code 7305h Cause Channel 1 Initialization the internal...

Page 389: ...tputs in the message window of the Moog DRIVEADMINISTRATOR 5 l The most common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 389 11 Alarms...

Page 390: ...rnings 11 6 25 2 Error 24 2 emergency code 7307h Cause Channel 3 Initialization common error from encoder option module Suggested steps Please look at Log entry window for error code information Initi...

Page 391: ...st common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 391 11 Alarms warnings 11 6 25 6 Error 24 6 emergency code 7307h Cause Channel 3 I...

Page 392: ...t outputs in the message window of the Moog DRIVEADMINISTRATOR 5 l The most common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 392 11 Al...

Page 393: ...encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 393 11 Alarms warnings 11 6 25 14 Error 24 20 emergency code 7307h Cause Channel 3 Initialization SSI encoder monitoring Suggest...

Page 394: ...the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 394 11 Alarms warnings 11 6 25 18 Error 24 42 emergency code 7307h Cause Channel 3 Initialization SSI common e...

Page 395: ...f error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 395 11 Alarms warnings 11 6 25 22 Error 24 46 emergency code 7307h Cause Channel 3 Initialization t...

Page 396: ...f encoder channel 3 l In any case look at init outputs in the message window of the Moog DRIVEADMINISTRATOR 5 l The most common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date...

Page 397: ...RIVEADMINISTRATOR 5 l The most common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 397 11 Alarms warnings 11 6 26 3 Error 25 3 emergency...

Page 398: ...common cause of error is the wiring to the encoder MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 398 11 Alarms warnings 11 6 27 2 Error 26 2 emergency code 7305h Cause Channel 1 cyc...

Page 399: ...use Channel 3 cyclic Np distance coded error delta correction failed Suggested steps Please check the wiring of the encoder perhaps reduce the speed Encoder channel cyclic evaluation l Error during th...

Page 400: ...ror to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 400 11 Alarms warnings 11 6 29 2 Error 30 2 emergency code 53...

Page 401: ...to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 401 11 Alarms warnings 11 6 29 4 Error 30 4 emergency code 5300h...

Page 402: ...11 Alarms warnings 11 6 29 7 Error 30 7 emergency code 5300h Cause Error at lookup table bigtab calculation Suggested steps Check settings of table configuration This issue is probably caused by an u...

Page 403: ...o firmeware on Profinet option available Suggested steps This is probably a software issue l Please try to switch to a different version of device firmware l Save your dataset and reset the axis modul...

Page 404: ...ng See if the error persists or if it comes with activating a certain feature MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 404 11 Alarms warnings 11 6 32 2 Error 33 1 emergency code...

Page 405: ...33 3 emergency code 5300h Cause Unknown EXCEPTION in TC safety Suggested steps Reset device MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 405 11 Alarms warnings 11 6 32 5 Error 33 4...

Page 406: ...l Power supply was possibly switched off l Please check if the actual grid voltage matches the supply setting parameter PST_ VoltageSupply l Verify that the grid is stable under load condition MOOG ID...

Page 407: ...or to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 407 11 Alarms warnings 11 6 34 2 Error 35 1 emergency code 730...

Page 408: ...ce partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 408 11 Alarms warnings 11 6 34 4 Error 35 3 emergency code 7307h Cause ENC CH3...

Page 409: ...vice partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 409 11 Alarms warnings 11 6 34 6 Error 35 5 emergency code 7305h Cause ENC C...

Page 410: ...vice partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 410 11 Alarms warnings 11 6 34 8 Error 35 7 emergency code 7307h Cause ENC C...

Page 411: ...partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 411 11 Alarms warnings 11 6 34 10 Error 35 9 emergency code 7307h Cause ENC CH3...

Page 412: ...please try another encoder and cable l See detailed error information for a more detailed description MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 412 11 Alarms warnings 11 6 34 13...

Page 413: ...ue exceeds maximum Suggested steps Check reduce the load of the chopper MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 413 11 Alarms warnings 11 6 37 Error 39 TWIN monitoring error 11...

Page 414: ...your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 414 11 Alarms warnings 11 6 37 3 Error 39 2 emergency code 7300h Cau...

Page 415: ...9 001 Date 11 2020 MSD Servo Drive Device Help 415 11 Alarms warnings 11 6 37 5 Error 39 4 emergency code 2350h Cause TWIN Monitoring position difference between master and slave is too large Suggeste...

Page 416: ...ting this error to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 416 11 Alarms warnings 11 6 38 2 Error 40 1 emerg...

Page 417: ...vice partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 417 11 Alarms warnings 11 6 38 4 Error 40 3 emergency code 7300h Cause Tech...

Page 418: ...e partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 418 11 Alarms warnings 11 6 38 6 Error 40 5 emergency code 7300h Cause Tech Opt...

Page 419: ...ase include your device s parameter setting 11 6 38 8 Error 40 7 reserved MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 419 11 Alarms warnings 11 6 38 9 Error 40 8 emergency code 730...

Page 420: ...r service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 420 11 Alarms warnings 11 6 40 Error 43 Ethernet error 11 6 40 1 Error...

Page 421: ...steps Check motor brake or other device connected on X13 or disable guarding MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 421 11 Alarms warnings 11 6 42 Error 45 Lock violation err...

Page 422: ...ur device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 422 11 Alarms warnings 11 6 42 3 Error 45 2 emergency code FF00h Cause Movement requested which was limite...

Page 423: ...g this error to your service partner please include your device s parameter setting MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 423 11 Alarms warnings 11 6 43 Error 46 Position lim...

Page 424: ...n or increase speed control gain for stronger limitation MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 424 11 Alarms warnings 11 6 43 3 Error 46 2 emergency code 8612h Cause Positive...

Page 425: ...ion or increase speed control gain for stronger limitation MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 425 11 Alarms warnings 11 6 43 5 Error 46 4 emergency code 8612h Cause Positi...

Page 426: ...evice firmware l Save your dataset and reset the axis module to factory setting See if the error persists or if it comes with activating a certain feature MOOG ID No CB40859 001 Date 11 2020 MSD Servo...

Page 427: ...n update of the required safety firmware is necessary l Please report this error to your service partner MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 427 11 Alarms warnings 11 6 45...

Page 428: ...es all slave alarms and resets the network status to RUN MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 428 11 Alarms warnings 11 6 45 3 Error 49 2 emergency code 6100h Cause Alarm on...

Page 429: ...es all slave alarms and resets the network status to RUN MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 429 11 Alarms warnings 11 6 45 5 Error 49 4 emergency code 6100h Cause Alarm on...

Page 430: ...es all slave alarms and resets the network status to RUN MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 430 11 Alarms warnings 11 6 45 7 Error 49 6 emergency code 6100h Cause Alarm on...

Page 431: ...es all slave alarms and resets the network status to RUN MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 431 11 Alarms warnings 11 6 45 9 Error 49 8 emergency code 6100h Cause Alarm on...

Page 432: ...s all slave alarms and resets the network status to RUN MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 432 11 Alarms warnings 11 6 45 11 Error 49 10 emergency code 6100h Cause Alarm o...

Page 433: ...es all slave alarms and resets the network status to RUN MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 433 11 Alarms warnings 11 6 45 13 Error 49 12 emergency code 6100h Cause Alarm...

Page 434: ...status to RUN l Please restart the application 24V reset MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 434 11 Alarms warnings 11 6 45 15 Error 49 14 emergency code 6100h Cause Error...

Page 435: ...s warnings 11 6 46 Error 51 Encoder status common error 11 6 46 1 Error 51 1 emergency code 7305h Cause Channel 1 Status from encoder warning or error bit set by encoder Suggested steps Please check e...

Page 436: ...48 1 Error 53 1 emergency code 6100h Cause At least one motor phase missing Suggested steps Check motor wiring This is possibly a hardware issue If other measures fail to solve the problem please rep...

Page 437: ...conditions l If torque mode is used reduce torque ensure external speed limitation or increase speed control gain for stronger limitation 11 6 51 Error 57 reserved MOOG ID No CB40859 001 Date 11 2020...

Page 438: ...se contact your service provider if this error occurs again MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 438 11 Alarms warnings 11 6 55 Error 62 Battery buffered encoder 11 6 55 1 E...

Page 439: ...nd the normal encoder supply voltage and on the other hand the auxiliary battery voltage had failed at the same time at the encoder l In this case the multiturn part of the position is lost 11 6 56 Er...

Page 440: ...Help 440 12 Fieldbus 12 1 CANopen EtherCAT NOTE l For a full description of the CANopen EtherCAT fieldbus option for the MSD Servo Drive and MSD Single Axis Servo Drive Compact operation system requi...

Page 441: ...o www sercos org for general information about SERCOS MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 441 12 Fieldbus 12 3 PROFIBUS PROFINET NOTE l For a full description of the PROFIB...

Page 442: ...08 5 COM_SYNC_CTRL_min us min control output 2008 6 COM_SYNC_CTRL_Tfil ms synchronization filter time 2008 7 COM_SYNC_CTRL_____ 155 0 MPRO_DRVCOM_CFG DriveCom Device configuration requires restart 200...

Page 443: ...2020 MSD Servo Drive Device Help 443 13 Technology options X8 13 1 Selection of modules Image 13 1 Technology options X8 settings screen Option X8 available only from the factory cannot be retrofitte...

Page 444: ...on Option 2 Technology second Sin Cos encoder ID No CA79903 001 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 444 13 Technology options X8 13 3 Sin Cos encoder NOTE l For a full desc...

Page 445: ...ons configuration see the Option 2 Technology SSI encoder simulation Specification ID No CB08760 001 13 5 1 Parameters SSI encoder simulation is enabled by setting P 2800 0 TOPT_SSI_Mode to 1 ID Index...

Page 446: ...of the TWINsync technology option technical data connections configuration see the Option 2 Technology TWINsync option Specification ID No CB08759 001 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Dri...

Page 447: ...ignals click on the Scope signals of Device status at the very top of the window Comprehensive error information can be accessed using the Error History button see Section Alarms and warnings Details...

Page 448: ...ms Control COM Handler 1651 4 LU_Timing ms Service COM Handler 1651 5 LU_Timing ms CoDeSys RTS Task 1651 6 LU_Timing ms Motion 1ms Task 1652 LU_Timing_Avg SW Timing Average times 1652 0 LU_Timing ms C...

Page 449: ...11 2020 MSD Servo Drive Device Help 449 15 Manual mode 15 1 Manual mode window NOTE l Read comply with and confirm the safety prompt l As soon as the Manual mode window opens all unrelated device set...

Page 450: ..._PARA_SRef rev min Drive commissioning Speed reference value amplitude 232 0 MPRO_PARA_Acc rev min s Drive commissioning Acceleration 233 0 MPRO_PARA_Dec rev min s Drive commissioning Deceleration 234...

Page 451: ...0 DV_SwVersion Firmware version of the device in plain text Total software version of device plain text 5 0 DV_DeviceFamilyName Device family name 6 0 DV_SwVersionId Firmware version of the device 7...

Page 452: ...led 64 byte blocks 60 0 DV_SwOptionX12ID ID software option on X12 64 0 DV_SwBaseVersion Software base version 65 0 DV_ SwCompatibilityLevel Software compatibility level Table 16 2 Drive description S...

Page 453: ...OOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 453 16 Drive description ID Index Name Unit Description 19 PARA_DSC_Device Device description concerning parameter list 19 0 ParaCount Nu...

Page 454: ...ter maximum value as 4 byte data stream 21 14 NativeDefault Native sub parameter default value as 4 byte data stream 22 PARA_DSC_Groups2 List of names of parameter groups 22 0 PARA_DSC_Groups 22 PARA_...

Page 455: ...ata set ID Determination of the data set ID can be accomplished by means of digital inputs or a parameter for example One possible application would be storing two motor data sets in one device which...

Page 456: ...0 Opt 1 Determining the data set ID MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 456 17 Enhanced additional functions The parameter P 97 PARA_DataSetLdCfg 1 FS is the function selec...

Page 457: ...have the syntax INDEX SUBINDEX VALUE INDEX SUBINDEX VALUE MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 457 17 Enhanced additional functions 17 1 3 Procedure Activate the function u...

Page 458: ...Servo Drive Device Help 458 17 Enhanced additional functions If for example a data set ID with the ID 123 is determined the parameters 456 0 300 and 451 0 Testmotor are written sequentially For an ID...

Page 459: ...additional parameter data set ID With byte 0 Specification of the parameter data set number Bit 0 of 2010 0 to bit 7 of 2010 0 With byte 1 Specification of the options Bit 0 1 Remove fieldbus specifi...

Page 460: ...cifies the name of the data set to be read 0 99 means PDS00 PDS99 3 Specify options With byte 1 of P 2010 0 COM_CFG_ID Specification of the options Bit 0 1 Save the data set permanently to the non vol...

Page 461: ...78 CANopen 21 440 EDS file 442 State machine 274 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 461 18 Index Technology option 307 Touch probe 292 Channel 1 59 Channel 2 72 Channel 3...

Page 462: ...opyright 3 Current control See Torque control Current Controller Sampling time 109 Current observer 127 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 462 18 Index D Deceleration 268...

Page 463: ...motor 143 145 Synchronous motor 146 156 Fieldbus 440 See also CANopen EtherCAT SERCOS PROFIBUS PROFINET MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 463 18 Index H Hall sensor 62 8...

Page 464: ...158 Inputs 289 Analog 303 See also Analog channel Profile mode 306 Scaling 305 Digital 290 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 464 18 Index Interpolation types 246 J Jog mo...

Page 465: ...t 43 Synchronous 33 35 Auto commutation 156 Linear 36 Electronic data 37 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 465 18 Index Third party 33 Multi turn encoder 106 as single t...

Page 466: ...rless 134 R Rate limiter 171 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 466 18 Index Reference 266 301 Limitation 301 Shutdown 249 Table 265 Reference mark 66 86 256 259 261 Incre...

Page 467: ...evolution 59 79 Second on X8 technology option 76 78 443 444 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 467 18 Index Signal correction 60 80 Signal period 66 Track signal correcti...

Page 468: ...448 Hydraulic 192 213 Process controller 166 167 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 468 18 Index Synchronized motion 277 279 STO Safe Torque Off 16 293 296 299 300 Stop 2...

Page 469: ...109 Torque control Adaption 125 Defined bandwidth 129 MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 469 18 Index Encoder for 53 55 98 Expanded 125 For hydraulic systems 173 208 Opti...

Page 470: ...arning status 314 Warning thresholds 323 Warnings 15 Weighting See also Scaling linear 231 rotary 232 Wire break See Wire break monitoring MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device He...

Page 471: ...e moog com service france moog com United Kingdom Korea South Africa 44 0 1684 858000 82 31 764 6711 27 12 653 6768 Service 44 0 1684 858000 info korea moog com info southafrica moog com info uk moog...

Page 472: ...MOOG ID No CB40859 001 Date 11 2020 MSD Servo Drive Device Help 472...

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