Moog MSD Servo Drive Series

MOOG
ID No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
137
7 Control
Fig. 7.30: “Position control” dialog box
ID Index Name Unit Description
386 CON_SCON_TFric
386 0 CON_SCON_TFric %
386 1 %
Dryfrictioncomp.,normalizedtomotorrated
torque
Frictiontorquecompensationsettings
Thetablevalues0to2arealwaysapplicable
whiletablevalues3to4onlytakeeffectinthe
accelerationrange.
Compensationvalue1
386 2 %
386 3 %
386 4
CON_SCON_TFric
CON_SCON_TFric
CON_SCON_TFric
CON_SCON_TFric %
387
Compensationvalue2
Compensationvalue3
Compensationvalue4
Compensationvalue5
387 0 rpm
387 1 rpm
387 2 rpm
387 3 rpm
Frictiontorquecompensation:Speedlimits
Frictiontorquecompensation:Speedlimit1
Frictiontorquecompensation:Speedlimit2
Frictiontorquecompensation:Speedlimit3
387 4 rpm
388 0
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TFricSpeed
CON_SCON_TConst % Frictiontorquecompensation:Constant
(independentofdirection)
Table 7.20: “Position controller - Feed-forward control” parameters (friction torque
compensation extract)
The screen view can only be used to configure P386[0] - CON_SCON_TFric. In
order to access all the friction torque compensation parameters, please switch to the
list view by using the “CTRL + L” key combination.
Fig. 7.31: Friction torque compensation for position control
The friction torque compensation is derived from the forward-fed speed nref_FF. It
has five basic functions, each having the Torque and Speed parameters. The basic
function runs proportionally up to the point (Speed, Torque), the function value
remains constant at higher speeds.