Moog MSD Servo Drive Series User Manual

controller operation. By way of index (1) reduction of the I-component is activated
(see table). With P 2672[0] - CON_PRC_OUTSEL = 3 the process controller delivers
an additive position reference value. The rate limiter limits the possible control
variable change. The control variable change each time interval by the process
controller results in a speed change on the motor shaft.
Example
The amount of the process controller to change the speed on the motor shaft should
not be higher than 100 revolutions per minute. To achieve this, the value of
parameter P2680[0] - CON_PRC_RateLimiter must be parameterized with a value
corresponding to the user unit. The unit of this parameter is [x/ms]. The x stands for
the respective unit of the process controller output variable. In this example the
control variable (additive position reference) has the unit "Increments" (see also
P270[0] - MPRO_FG_PosNorm). This parameter indicates how many increments
correspond to one motor revolution.
Conversion from [rpm] to [Inc/ms]
n
change
= 100 rpm
P270[0] - MPRO_FG_PosNorm in inc/rev
Internal position resolution = 1048576 inc/rev (default)
To reduce the integral term, the same method is applicable P2680[1] - CON_PRC_
Rate Limiter [Inc/ms]).
P2680[0] - CON_PRC_Rate Limiter = n
change
*1048576 *1/60000
P2680[0] [Inc/ms] = 100 [rpm] * P270[0] [Inc/rev] * 1/60 [min/s*] * 1/1000 [s/ms]
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
158
7 Control
7.10.4Parameters
ID Index Name Unit Description
2659 0 CON_PRC_Kp Processcontrolgain
2660 0 CON_PRC_KP_SCALE % Processcontrolgainscalingfactor
2661 0 CON_PRC_Tn ms Processcontrolintegrationtimeconstant
2662 0 CON_PRC_
REFOFFSET
Offsetforprocesscontrolleroutput
2663 0 CON_PRC_LIMPOS Positivelimitationoftheactuatingvariable
2664 0 CON_PRC_LIMNEG Negativelimitationoftheactuatingvariable
2665 0 CON_PRC_CDIFF_
SIGN
Processcontrolsignadaptation
2666 0 CON_PRC_REFVAL Processcontrolreferencevalue
2667 0 CON_PRC_REFSCALE Referencevaluescalingfactor
2668 0 CON_PRC_ACTSEL
Selection of source for actual value
2669 0 CON_PRC_
ACTOFFSET
Inputcalibration:Offset
2670 0 CON_PRC_ACTTF ms Timeconstantforfilteringtheactualvalue
2671 0 CON_PRC_ACTSCALE Scalingoffilteredinputsignal
2672 0 CON_PRC_OUTSEL Selectionofprocesscontroloutput
2673 0 CON_PRC_RAW_
ACTVAL
Actualvalueofinputsignal
2674 0 CON_PRC_ACTVAL Inputsignalafterscalingandfiltering
2675 0 CON_PRC_CDIFF Processcontrolsystemdeviation
2676 0 CON_PRC_OUTVAL Processcontroloutputvalue
2677 0 CON_PRC_ACTVAL_
FIELDBUS
Actualfieldbusvalue
2678 0 CON_PRC_OUTSEL_
MOPRO
Processcontroloutputformotionprofile
2679 0 CON_PRC_RefReached USER Reference-reachedwindow
2680 CON_PRC_RateLimiter Processcontrolslopelimitation
2680 0 CON_PRC_RateLimiter x/ms Slopelimitation(Process)
2680 1 CON_PRC_RateLimiter x/ms Slopelimitation(Resetintegralpart)
2681 0 CON_PRC_CtrlWord Processcontrol:Controlword
Table 7.37: “Process controller” parameters

Moog MSD Servo Drive Series Specifications

General

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