Moog MSD Servo Drive Series

MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
120
7 Control
No. Action
1 Openmanualmodewindow.
2 Approachstartposition
3 Speedcontrolmodecontrolsetting(sethighrigidity,forsmoothrunning)
4
Settheteachingdirectionifnecessary:P 445[0] - CON_TAB_TeachDir
Default:POS(1)=teachingroutineinpositivedirection.
5
Settheoffsetanddeltaifnecessaryusing:
P 442[0] - CON_TAB_PosStart,default0
P 443[0] - CON_TAB_PosDelta,default1000inc/TabElement
=e.g.(endposinc-startposinc)/4000elements
6
Settheinputtuningifnecessaryusing:
P 447[0] - CON_TAB_Tune.TimeDelay,default0
P 447[1] - CON_TAB_Tune.PosShift,default0
7 Startcontrol
8 Runmotoratlowspeed(≤1rpm).
9
Setthepositionsourcefortheteaching,activateteaching:Select
P 385[0] - CON_TCoggTeachCon= (5)TeachUserRefPosorselect
P 385[0] - CON_TCoggTeachCon= (7)TeachPosEncPconorselect
P 385[0] - CON_TCoggTeachCon= (9)TeachPconActPosorselect
P 385[0] - CON_TCoggTeachCon= (10)TeachPosEncRed.
Theteachingroutinebegins(butonlywithPosStart).
10
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
11
Withthecontrolstilloperating,theteachingisthenstoppedbycallingthe
calculationfunctiononce:
12
Stop control
No. Action
13
P 385[0] - CON_TCoggTeachCon = (3)CALC1.
Thisimportsallvaluesintotheinternalcompensationtable(bigtablewith
4000elements).
14
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.
15 UsethescopetomonitorIsqRef_Comp
7.3.4.6Compensationasafunctionofmechanicalrotation
(EPMS)
Teaching routine and compensation  big CompTab (4000)
- Incremental, ‘rotary' recurring position
- Without offset and delta, with tuning, with fader
- (6) Teach epsm mechanical angle (shaft), SingleTurn position from encoder for
commutation
- (11) Teach singleturn position from position control, SingleTurn position of the
position control, + Homing + axis correction
- (12) Teach epsrs, commutation angle (electrical)