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Moog MSD Servo Drive Series User Manual
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MOO
G
ID
No.:
CB40859-001
Date:
02/2018
MSD
Servo
Drive-
Device
Help
173
8
Motion
pr
ofile
8.
2.2.
3
U
ni
t
of
tor
qu
e/
pow
er
Fig.
8.17:
“Standardization profile
-
SERCOS-Torque/power(1)” dialog box
172
174
Table of Contents
Default Chapter
2
MOOG ID No.: CB40859-001 Date
2
Change History
3
Disclaimer
5
MOOG ID No.: CB40859-001 Date
5
Table of Contents
6
1 General Information
10
Target Group
10
Requirements
10
Applicable Documentation
11
Pictograms
13
Disclaimer
13
Technical Helpline
13
2 Safety
15
Overview
15
For Your Own Safety
15
Safety Information and Warnings
15
Responsibility
16
Initial Commissioning
17
Initial Commissioning
18
3 Initial Commissioning
18
Automatic Test
22
Motor
23
Encoder
24
Control
24
Power Stage Settings
25
Voltage Supply
26
Switching Frequency
26
Online Derating of Switching Frequency
26
Parameters
26
Power Failure Bridging
28
Functional Description
28
Parameter Configuration
28
Modes
29
Parameters
30
5 Motor
31
Motor Configuration Data
31
Synchronous Motor
32
Synchronous Motor Electronic Data
34
Linear Synchronous Motor
35
Linear Synchronous Motor Electronic Data
36
Asynchronous Motor
37
Asynchronous Motor Electronic Data
38
Motor Protection
39
Temperature Sensors
39
Synchronous Motor I²T Monitoring
41
Asynchronous Motor I²T Monitoring
42
Motor Identification
43
Synchronous Motor Identification (Rotary and Linear)
45
Asynchronous Motor Identification
45
Support for Motor Filters When Using PMSM Motors
45
General Functional Description
45
Configuration
47
Parameters
48
Scope Signals
48
6 Encoder
49
Introduction
50
Limiting for Endat and SSI
50
Encoder Gearing
50
Actual Values at the Encoder Channel Outputs
50
Encoder Selection
51
Encoder Offset
53
Connectors and Pin Assignations
53
Connector for Resolver (X6)
54
Connector for High-Resolution Encoders (X7)
54
Channel 1: Interface X7
56
Main Parameters for Encoder Channel Ch1
57
Endat (Cyclical) X7
58
Hall Sensor X7
60
Sin/Cos / TTL X7
60
SSI (Cyclical) X7
66
Encoder Gearing
68
Channel 2: Interface X6
70
Compensation for Long Resolver Cables
71
Signal Correction GPOC (Gain Phase Offset Correction)
71
X6 Encoder Gearing
73
Channel 3: Interface X8 (Optional)
74
Main Parameters for Encoder Channel Ch3
78
X8 Absolute Value Interfaces
80
Endat (Cyclical) X8
80
Hall Sensor X8
80
Sin/Cos / TTL X8
81
SSI (Cyclical) X8
85
Encoder Gearing
87
Channel 4: Virtual Encoder
88
Sensorless Control Synchronous Motor
89
Sensorless Asynchronous Motor Control
95
Sensorless Asynchronous Motor Control from Firmware 124.20-08 Additional Document CC41778-001 Applies
95
Redundant Encoder
96
Axis Correction
97
Oversampling
100
Multi-Turn Encoder as a Single-Turn Encoder
101
Distance-Coded Reference Marks
101
Overflow in Multi-Turn Range
103
Zero Pulse Test
104
7 Control
105
Control Structure Overview
105
Setting
106
Basic Settings
107
Motor Control Basic Settings
107
Mass Inertia Detection
108
Torque Controller
110
Current Controller Optimization
110
Creating the Transfer Function
111
Current Actual Value Filter
112
Detent Torque Compensation
112
Advanced Torque Control
122
Torque Control with Defined Bandwidth
125
Speed Controller
126
Advanced Speed Control
128
Digital Filter
131
Analysis of Speed Control
132
Position Controller Settings
135
Pre-Control
135
Friction Torque Compensation (Friction)
136
Synchronous Motor Field-Weakening
138
Variant 1: Default
138
Variant 2: Modified Characteristic
139
Voltage Controller
139
Field-Weakening of Asynchronous Motor Voltage Controller
140
Synchronous Motor Field-Weakening
141
From Firmware 124.20-08 Additional Document CC41778-001 Applies
141
Variant 1 (Table)
142
Variant 2 (Calc)
142
Synchronous Motor Voltage Controller Field Weakening
143
Synchronous Motor Auto Commutation
144
IENCC(1) Method
146
LHMES(2) Method
147
IECON(4) Method
148
Test Signal Generator
149
V/Hz Mode
153
Process Controller
154
Features
154
Description of Control Structure
154
Rate Limiter
157
Parameters
158
Scope Signals
159
8 Motion Profile
160
Settings
161
Scaling / Units
162
Standard/Cia
163
Sercos
168
User Defined
177
Basic Settings
180
PG Mode with Speed Control
180
PG Mode with Position Control
181
IP Mode with Speed Control
182
IP Mode with Position Control
183
Jerk Limitation and Speed Offset
183
Interpolation
185
Stop Ramps
187
Homing
189
Homing Dialog Box
189
Method (-13): Absolute Encoder
191
Method (-12): Set Absolute Position (Absolute Measuring System)
191
Method (-10) and Method (-11): Moving to Block with Zero Pulse
192
Methods (-8) and (-9): Move to Block
193
Methods (-7) to
194
Method (1) and Method (2): Limit Switch and Zero Pulse
194
Methods (3) and (4): Positive Reference Mark and Zero Pulse
195
Homing Method 5 and 6: Negative Reference Mark and Zero Pulse
196
Methods (7) to
197
Methods (11) to (14): Reference Mark, Zero Pulse and Negative Limit Switch
199
Methods (15) and
200
Methods (17) to (30): Reference Mark
201
Methods (31) and
202
Methods (33) and (34): with Zero Pulse
202
Method
202
Jog Mode
203
Configuration
203
Digital Inputs
204
Manual Mode Window, "Jog Mode" Tab
204
Setpoint Table
205
Analog Channel (ISA00 and ISA01)
212
Special Characteristics of Position Control Mode
213
Wire Break Monitoring
213
State Machine
215
Touch Probe
217
Synchronized Motion
218
Electronic Camming
219
Control Word for Synchronized Motion
221
Status Word for Synchronized Motion
221
Master Configuration
222
Electronic Gearing
225
Engagement
226
Disengagement
227
Virtual Master
228
Common Master
229
CAM Switch
230
Data Handling
230
9 Input/Output Settings
231
Digital Inputs
232
Digital Standard Inputs
233
Function Selectors
234
Hardware Enable - Power Stage
235
Digital Virtual Inputs
236
Status of Digital Inputs
236
Control Selector Switching
237
Power-Up Sequence
237
Pulse Direction
238
From Firmware 124.20-08 Additional Document CC41778-001 Applies
238
Digital Outputs
238
Standard Digital Outputs
238
Function Selectors
239
Relay Outputs
240
Status of Digital Outputs
241
Reference Reached REF
241
Sreference Limit LIMIT(14)
242
Switching with Motor Contactor
242
Analog Inputs
243
Standard Analog Inputs
243
Function Selectors
244
Analog Input Scaling
245
Profile Mode and Analog Inputs
246
Wire Break Monitoring
247
Analog Outputs (Option for MSD Servo Drive Only)
247
Function Selectors
248
Motor Brake Output
248
Motor Brake Details
249
10 Limits / Thresholds
251
Settings
251
Torque / Force Limits
252
Speed Limits
253
Position Limits
253
Power Stage
254
11 Alarm & Warnings
255
Warning Status
255
Alarms & Warnings (Details)
257
Warning Thresholds
264
Error Display
265
Servo Drive Display
265
Moog Driveadministrator Display
266
Error Reactions
266
Error List
269
12 Fieldbus
293
Canopen / Ethercat
293
Sercos
294
Profibus / Profinet
294
Synchronization / Configuration
295
EDS File Generator
295
13 Technology Options (X8)
296
Selection of Modules
296
Second Sin/Cos Encoder
297
TTL with Encoder Simulation
298
SSI Encoder Simulation
298
Parameters
298
Twinsync
299
Technology Options (X8)
299
14 Device Status
300
Status Bits
301
Load Factor
301
15 Manual Mode
302
Manual Mode Window
302
Manual Mode Control Status
306
16 Device Description
307
Electronic Rating Plate
307
17 Index
311
5
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Moog MSD Servo Drive Series Specifications
General
Brand
Moog
Model
MSD Servo Drive Series
Category
DC Drives
Language
English
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