Moog MSD Servo Drive Series User Manual

7.2.1.1Adjustmentofthemassinertia
If the mass inertia value is not known, the wizard can be used to determine it
(see Section "Automatic inertia detection" on page 108).
NOTE

While the mass inertia is being determined the motor executes
movements. There is a risk that the system and the motor may be
destroyed.
CAUTION! Your system/motor may be damaged if put into operation
in an uncontrolled or inappropriate manner.
Improper conduct can cause damage to your system /
machine.
 Beforethe“Start”step,makeabsolutelysurethatavalid
setpointhasbeenentered,astheconfiguredsetpoint
willbeimmediatelytransmittedtothemotorafterthe
motorcontrolfunctionstarts,whichmayresultinthe
motoracceleratingunexpectedly.
7.2.1.2Adaptation to the rigidity of the drive train
The settings for the speed and position control with feed forward control are
determined automatically by setting the rigidity. The rigidity is stated in percent
in the wizard.
 Thesetting<100%reducesthedynamicperformanceofthecontroller
setting(e.g.foratoothedbeltdrive).
 Thesetting≥100%increasesthedynamicperformanceofthecontroller
setting(lowplayandelasticity).
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
108
7 Control
The speed controller gain is scaled separately using the percentage value KP Scale.
The damping of the control is affected by the speed filter.
Useful settings are:
 Resolver:1-2ms
 Sin/Cosencoder(low-track):0.5-1ms
 Sin/Cosencoder(high-resolution):0.2-0.6ms
NOTE

After a power-off the speed and position control settings remain
stored. The percentage value for rigidity, however, is set to 100 %
again.
7.2.2Automatic inertia detection
To define the mass inertia of a motor easily, the "automatic mass inertia definition"
function is available. In the standard motor data set the speed controller is preset for
a moderately stiff mechanism.
The automatic mass inertia definition function is started when the hardware has
been enabled. Clicking the "Automatic Inertia Definition" button enters the latest
value obtained in SCD_Jsum.

Moog MSD Servo Drive Series Specifications

General

Brand	Moog
Model	MSD Servo Drive Series
Category	DC Drives
Language	English