Moog MSD Servo Drive Series

7.3Torquecontroller
The torque controller is executed as a PI controller. The gain (P-component) and the
integral-action time (I-component) of the individual controllers are programmable. In
order to optimize the current control loop, two rectangular reference steps are preset.
The object of the optimization is a current controller with moderate dynamism and
the following values:
 Currentcontroltime:<1ms
 Overshoot:<5%
Fig. 7.5: “Current/torque controller settings” dialog box
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
110
7 Control
7.3.1Currentcontrolleroptimization
The faster the actual value approaches 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.
 Thefirststep(stage1,time1)movestherotortoadefinedposition.
 Thesecondstep(stage2,time2)isusedtooptimizethetorquecontrol(step
response).Themagnitudeofthe2ndstepshouldnotbetoolarge,soasto
ensurethatthevoltagesetpointwillnotgoallthewaytothelimit(low-level
signalresponserequired).
 Thecurrentandtimesettingsautomaticallyadjusttothemotordata.The
currentisequaltoI
n
• .
 ISDSHandENPO(hardwareenable)mustbesetto"High".
 Click"Starttestsignal"button
 Observethesafetynotice:Whenyouconfirmthesafetynoticeastep
responseisexecuted.
 Theoscilloscopewillbeconfiguredautomatically.