Moog MSD Servo Drive Series

MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
119
7 Control
7.3.4.4Compensationasafunctionoftheelectricalangle
(EPSRS),smalltable
Teaching routine and compensation  small CompTab (250er)
- Incremental, ‘rotary' recurring position
- Without offset and delta, with tuning, with fader
- (1) Teach epsrs, commutation angle (electrical)
No. Action
1 Openmanualmodewindow
2 Speedcontrolmodecontrolsetting(sethighrigidity,forsmoothrunning)
3 Startcontrol
4 Runmotoratlowspeed(≤1rpm).
5
Setthepositionsourcefortheteaching,activateteaching:SelectP 385[0] -
CON_TCoggTeachCon = (1)TeachEpsRS-1.Theteachingroutinebegins.
6
Wait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
7
Withthecontrolstilloperating,theteachingisthenstoppedbycallingthe
calculationfunctiononce:
P 385[0] - CON_TCoggTeachCon = (3)CALC1.
Thisimportsallvaluesintothe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activewhenthecontrol
isrestarted.
10
Savedevicedata.
-Thepositionsourceusedbytheteachingisalsosavedhere.Itwilllaterbe
usedforthecompensationonceagaininexactlythesamemanner.
7.3.4.5Compensationasafunctionoftheabsoluteposition
(ABSPOS)
Teaching routine and compensation  big CompTab (4000)
- Absolute, 'linear' continuous position
- With offset and delta, with tuning, without fader
- (3) Teach (277)MPRO_FG_UserRefPos, reference position in user units
- (7) Teach posact from pcon encoder, actual position from encoder for position
control loop in reference scaling,scope signal 152
- (9) Teach (412)CON_PCON_ActPosition, actual position of the position control in
reference scaling
- (10) Teach posact from pcon encoder, actual position from so-called redundant
encoder in reference scaling, scope signal 153