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8.3.6.2 Cubic interpolation

Image 8.35: Interpolation polynomial, 7th degree

Image 8.36: Cubic spline interpolation

MOOG

ID No.: CB40859-001 Date: 11/2020

MSD Servo Drive - Device Help

247

8 Motion profile

As polynomials become more and more unstable as the order of magnitude

increases – that is to say, fluctuate widely between the interpolation points – in

practice polynomials of an order greater than 5 are rarely applied. Instead, large

data sets are interpolated in chunks.

In the case of linear interpolation, that would be a frequency polygon; in the case of

2nd or 3rd order 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 importance.

8.3.6.3 MSD Servo Drive interpolation types

P No.

Index Name / Setting

Unit Description

370

0

CON_IP

Interpolation type in IP mode

NoIp(0)

No interpolation:
The values are transferred 1:1 to reference
processing in 1 ms cycles.

Lin (1)

Linear interpolation:
In the linear interpolation method the
acceleration between two points is generally
zero. Pre-control of the acceleration values is
thus not possible and speed jumps are always
caused.

SplineExtFF(2)

Interpolation with external pre-control:
Only on request from Moog.

Table 8.18: Interpolation types MSD Servo Drive

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Содержание MSD Servo Drive

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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_...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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_...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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_...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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_...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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