Moog MSD Servo Drive Series

MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
116
7 Control
(385)
CON_TCoggTeachCon
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Singleturn position from encoder for commution
- F1: Big teach table (4000)
- F1: Rotary, mapping: fixed 32-bit
- F1: Without teaching direction
- F1: Without offset and delta, with tuning, with fader
(7)TeachPosEncPcon
Calculation: (385)CON_TCoggTeachCon=(8)CALC2
Compensation: (382)CON_TCoggComp=(3)EPSM
 big CompTab, access via (440) and (441)
=Teach posact from pcon encoder
Actual position from encoder for position control
in reference value normalization, Scope-Signal 152
- F2: Big teach table (4000)
- F2: Absolute, mapping via (443)CON_TAB_PosDelta
- F2: With teaching direction
- F2: Without offset and delta, with tuning, without fader
(9)TeachPconEncPos
Calculation: (385)CON_TCoggTeachCon=(3)CALC1
Compensation: (382)CON_TCoggComp=(2)APSPOS
 big CompTab, access via (440) and (441)
=Teach (412)CON_PCON_ActPosition
Actual position from endoder for position control in reference value normalization
- F2: Big teach table (4000)
- F2: Absolute, mapping via (443)CON_TAB_PosDelta
- F2: With teaching direction
- F2: Without offset and delta, with tuning, without fader
Calculation: (385)CON_TCoggTeachCon=(3)CALC1
Compensation: (382)CON_TCoggComp=(2)APSPOS
 big CompTab, access via (440) and (441)
Table 7.2: Settings for teaching, calculating and compensation (continue)
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(385)
CON_TCoggTeachCon
(10)TeachPosEncRed
=Teach posact from redundant encoder
Actual position from so called redundant encoder
in ref value normalization, Scope-Signal 153
- F2: Big teach table (4000)
- F2: Absolute, mapping via (443)CON_TAB_PosDelta
- F2: With teaching direction
- F2: Without offset and delta, with tuning, without fader
(11)TeachSTPosPcon
Calculation: (385)CON_TCoggTeachCon=(3)CALC1
Compensation: (382)CON_TCoggComp=(2)APSPOS
 big CompTab, access via (440) and (441)
=Teach singleturn position from position control
Singleturn position of position control
- F1: Big teach table (4000)
- F1: Rotary, mapping: fixed 32-bit
- F1: Without teaching direction
- F1: Without offset and delta, with tuning, with fader
(12)TeachEpsRS-3
Calculation: (385)CON_TCoggTeachCon=(8)CALC2
Compensation: (382)CON_TCoggComp=(3)EPSM
 big CompTab, access via (440) and (441)
=Teach epsrs commutation angle (electrical)
- F1: Big teach table (4000)
- F1: Rotary, mapping: fixed 32-bit
- F1: Without teaching direction
- F1: Without offset and delta, with tuning, with fader
Calculation: (385)CON_TCoggTeachCon=(8)CALC2
Compensation: (382)CON_TCoggComp=(3)EPSM
 big CompTab, access via (440) and (441)
Table 7.2: Settings for teaching, calculating and compensation (continue)
The compensation (feed forward control) is activated using parameter: P 382[0] -
CON_TCoggComp > 0.