Moog MSD Servo Drive Series, Помощь по устройству, Страница: 252 / 320


Torque- / force limits

Speed- / velocity limits

Position limitation

Power stage (
see Section
"Power Stage" on page 2
54
)
P 745 - MON_RefWindow and P 746[0] - MON_UsrPosWindow indicate the status
of the configured limits and are incorporated into the general P 151[0] - MPRO_
DRVCOM_STAT_DWord status word.
P 737[0] - MON_MNCTL and P 737[1] - MON_MNSTAT can be used to monitor and
output the status of the mains connection.
ID Index Name Unit Description
338 CON_SCON_ActMax Motor control limitations
338 0 ActMax_Speed rpm Maximum speed
338 1 ActMax_Current A Maximum current
338 2 ActMax_Torque Nm Maximum torque
338 3 ActMax_UsrSpeed rev/min Maximum speed in user units
338 4 Reserved - Reserved
338 5 Reserved - Reserved
338 6 Reserved - Reserved
737 MON_MNCTL Monitoring control and status word
737 0 MON_MNCTL Monitoring control word
737 1 MON_MNSTAT Monitoring status word
745 MON_RefWindow Speed Setpoint reached window
745 0 TargetReached rpm Window for speed control target reached
745 1 Standstill rpm Window for motor standstill
745 2 TorqueTargetReached Nm Window for torque target reached
745 3 Hyst. TargetReached rpm Hysteresis window for speed control target
reached
745 4 Hyst. Standstill rpm Hysteresis window for speed control
standstill
746 0 MON_UsrPosWindow mDegree Setpoint reached pos. window
Table 10.1: “Limits / thresholds” parameters
MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive - Device Help
2 5 2
10 Limits / thresholds
10.2 Torque / force limits

The torque is limited to a maximum by
P 329[0] - CON_SCON_TMax
. In the
default setting the torque limit corresponds to the rated torque of the motor.
The possible setting range is 0-1000 %. The parameter can be changed
during operation.

In addition,
P 329[0] - CON_SCON_TMax
can be used to determine what the
maximum current is. To do this, multiply
P 329[0] - CON_SCON_TMax
by the
rated current.

P 332[0] - CON_SCON_TMaxScale
enables the torque limit set in
P 329[0]
to be scaled online – that is, during operation.

In addition,
P 330[0] - CON_SCON_TMaxNeg
and
P 331[0] - CON_SCON_
TMaxPos
can be used to change the torque limits for different directions of
rotation during operation.
ID Index Name Unit Description
329 0 CON_SCON_TMax % Maximum torque for speed control
330 0 CON_SCON_TMaxNeg % Scaling of negative motor torque limit
331 0 CON_SCON_TMaxPos % Scaling of positive motor torque limit
332 0 CON_SCON_TMaxScale % Scaling of motor torque limit
741 0 MON_TorqueThresh Nm Monitoring torque / force threshold
Table 10.2: “Limits / thresholds - Torque / force limits” parameters
NOTE

When using homing methods -8, -9, -10, and -11,
P 332[0] -
CON_SCON_TMaxScale
is replaced by
P 225[0] - MPRO_REF_
HOMING_TMaxScale
.

To protect against overspeed if a requested torque is not reached,
P 337[0] - CON_SCON_SMaxScale
is used to limit the speed
controller to a percentage of the rated speed.