7.2.1.1 Adjustment of the mass inertia
If the mass inertia value is not known, the wizard can be used to determine it (see
Section "Automatic inertia detection" on page 111).
NOTE
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While the mass inertia is being determined the motor executes
movements. There is a risk that the system and the motor may be
destroyed.
CAUTION!
Your system/motor may be damaged if put into operation in
an uncontrolled or inappropriate manner.
Improper conduct can cause damage to your system /
machine.
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Before the “Start” step, make absolutely sure that a valid
setpoint has been entered, as the configured setpoint
will be immediately transmitted to the motor after the
motor control function starts, which may result in the
motor accelerating unexpectedly.
7.2.1.2 Adaptation to the rigidity of the drive train
The settings for the speed and position control with feed forward control are
determined automatically by setting the rigidity. The rigidity is stated in percent in the
wizard.
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The setting < 100% reduces the dynamic performance of the controller
setting (e.g. for a toothed belt drive).
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The setting > 100% increases the dynamic performance of the controller
setting (low play and elasticity).
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
111
7 Control
The speed controller gain is scaled separately using the percentage value KP Scale.
The damping of the control is affected by the speed filter.
Useful settings are:
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Resolver: 1-2 ms
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Sin/Cos encoder (low-track): 0.5 - 1 ms
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Sin/Cos encoder (high resolution): 0.2 - 0.6 ms
NOTE
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After a power-off the speed and position control settings remain
stored. The percentage value for rigidity, however, is set to 100%
again.
7.2.2 Automatic inertia detection
To define the mass inertia of a motor easily, the "automatic mass inertia definition"
function is available. In the standard motor data set, the speed controller is preset for
a moderately stiff mechanical system
.The automatic mass inertia definition function is started when the hardware has
been enabled. Clicking the "Automatic Inertia Definition" button enters the latest
value obtained in SCD_Jsum.
