Filter type
When using a real master encoder, encoder signals may be subject to noise. P 1340
[0] - MPRO_ECAM_CamMaster_SpeedFilTyp can be used to select a filter type in
order to smooth the signals.
l
OFF (0) = No filter
l
PT1 (1) = PT1 filter
l
AVG (2) = Average filter
Filter time
If P 1340[0] is used to enable a filter, P 1327[0] - MPRO_ECAM_CamMaster_
SpeedTFil can be used to define the corresponding filter time.
Speed factor
The master encoder can be assigned an additional speed factor P 1328[0] - MPRO_
ECAM_CamMaster_SpeedFactor.
Inc/rev master encoder position resolution
If you are using a higher-level controller (P 1319[0] = PARA (2)), you will need to set
the number of increments per motor revolution in P 250[0] - MPRO_ECAM_
ParaMaster_Amplitude.
ID
Index Name
Unit Description
247
0
MPRO_ECAM_
ParaMaster_ActPos
incr
ECAM / EGEAR: Parameter interface master
position
248
0
MPRO_ECAM_
ParaMaster_ActSpeed
rpm ECAM / EGEAR: Parameter interface master
speed
249
0
MPRO_ECAM_
ParaMaster_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 configuration” parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
282
8 Motion profile
ID
Index Name
Unit Description
1319
0
MPRO_ECAM_
CamMaster_AxisType
ECAM / EGEAR: Channel selection of internal
master input
1320
0
MPRO_ECAM_
CamMaster_
RevLockMode
ECAM / EGEAR: Reverse lock mode of master
drive
1321
0
MPRO_ECAM_
CamMaster_Amplitude
incr
ECAM / EGEAR: Amplitude of the internal
master
1322
0
MPRO_ECAM_
CamMaster_GearNum
ECAM / EGEAR: Gear numerator of the master
drive
1323
0
MPRO_ECAM_
CamMaster_GearDen
ECAM / EGEAR: Denominator of the master
drive
1327
0
MPRO_ECAM_
CamMaster_SpeedTFil
ms
ECAM / EGEAR: Filter time constant of master
speed
1328
0
MPRO_ECAM_
CamMaster_
SpeedFactor
ECAM / EGEAR: Speed factor of the internal
master
1340
0
MPRO_ECAM_
CamMaster_SpeedFilTyp
ECAM / EGEAR: Filter type of master speed
1341
0
MPRO_ECAM_
CamMaster_Offset
incr
ECAM / EGEAR: Master drive offset
Table 8.37: “Synchronized motion - Master configuration” parameters (continue)