Moog MSD Servo Drive Series User Manual

MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
135
7 Control
7.5Positioncontrollersettings
Fig. 7.29: “Configuration of position controller and feed forward control” screen
①
Delaytimeandscalingfortorquepre-control
②
Delaytimeandscalingforspeedpre-control
③
Delaytimeforpositionpre-control
④
Scalingoffrictiontorque
Legend for “Configuration of position controller and feed forward control” screen
The higher the dynamism of the speed controller, the more dynamically the position
controller can be set and the tracking error minimized. The variables for the pre-
control of the speed and position controller are additionally determined either from
the change in reference values or alternatively are already calculated and outputted
by the motion control. The time-related values for the position, speed and torque are
transmitted to the drive control. If the dynamic change in these values is within the
limits which the drive is able to follow dynamically, the load on the controllers is
significantly reduced. In order to improve the dynamism of the position controller, the
following dialog box is provided to optimize the speed and acceleration pre-control.
ID Index Name Unit Description
276 0 mDegree
277 0 mDegree
279 0 mDegree
305 0 ms
360 0
MPRO_FG_UsrActPos
MPRO_FG_UsrRefPos
MPRO_FG_UsrPosDiff
CON_PConTS
CON_PCON_Kp 1/min
Actualpositioninuserunits
referencepositioninuserunits
positiontrackingerrorinuserunits
Positioncontrolsamplingtime
Positioncontrolgain
Table 7.18: “Position controller” parameters
7.5.1Pre-control
 Thepre-controloftheaccelerationtorquerelievesthestrainonthespeed
controllerandoptimizesthecontrolresponseofthedrive.Tobeabletopre-
controltheaccelerationtorque,themassinertiareferredtothemotorshaft
mustbeknown.Iftheparameterfortheoverallmassinertiaofthesystem
(P 1516[0] - SCD_Jsum)hasavalue≠0,thatvaluewillbeautomatically
usedtopre-controltheaccelerationtorque.
 Thepre-controlofthespeedreferenceissetto100%viaP 375[0] - CON_
IP_SFF_Scale.Thisvalueshouldnotbechanged.
 Theaccelerationtorquepre-controlcanbeoptimizedwithP 376[0] - CON_
IP_TFF_Scale.Reducingthisreducesthepre-controlvalue;conversely,
increasingthisvaluealsoincreasesthepre-controlvalue.
 Thepositiontrackingerrorcanbefurtherreducedbypredictivetorqueand
speedpre-control–thatis,inadvanceofthepositionreferencesetting.
Owingtothetime-discretemodeofoperationofthecontrolcircuitsandthe
limiteddynamismofthecurrentcontrolcircuit,thispredictionisnecessaryto
preventtheindividualcontrolcircuitsfromoscillatingagainstoneanother.
Predictioninpre-controlisachievedbyretardingthereferencesforspeed
andpositioncontrollers.

Moog MSD Servo Drive Series Specifications

General

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