P No.
Index Name / Setting
Unit Description
Splinell(3)
Cubic spline interpolation:
Only on request from Moog.
NonIPSpline(4)
Cubic spline approximation:
In this method the interpolation points are
approximated by means of B-splines. The
trajectory normally does not run exactly through
the points specified by the control. The
deviation is normally negligibly small. In the
interpolation points the transitions are
continuous with regard to acceleration, which
becomes apparent by minor "noise". In start and
target position the interpolation points always
match the trajectory.
Usage: minimizing noise, smoother motion,
restrictions on contouring
Cos(5)
Cosine interpolation:
The interpolation formula corresponds to a
Fourier trend of the unknown interpolants.
Table 8.18: Interpolation types MSD Servo Drive (continue)
When using NonIpSpline, superimposed external feed-forward control can be used.
The controller must write the feed-forward control values to 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 scaling required for the internal units. The result can be viewed in the
scope by using scope variables 101 - nref_EXT and 102 - mref_EXT. If the scaling
appears to be OK, use P 379 - CON_IP_FFMode to switch to the external feed-
forward control.
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
248
8 Motion profile
8.4 Stop ramps
Image 8.37: “Stop ramps” screen
Each reference source has its own acceleration and braking ramps. There are also
the stop ramps (quick-stop ramp), according to the
.CiA 402 standard. The ramp functions are only effective in certain system states.
The required settings can be selected from the screen. Clicking the "Error/Error
reactions" button directly accesses the screen for the error reactions.
Stop ramps in torque control
When in torque control mode (TCON), if one of the following occurs:
l
The control is shut down
l
The setpoint is disabled
l
Stop
l
Quick stop
l
Error
the set ramps will be performed in rpm.
