Moog MSD Servo Drive Series

Acceleration ramp
This parameter serves as an acceleration ramp for torque control (P176[0] - MPRO_
AN
A0
_T
R
a
mp
for ISA00, P186[0] - MPRO_ANA1_TRamp for ISA01) or speed
control (P177[0] - MPRO_ANA0_SRamp for ISA00, P187[0] - MPRO_ANA1_ SRamp
for ISA01). Depending on the control mode being used (see Section
"Basic settings" on page 107), the value will be stored in parameter index [0] (torque
control), [1] (speed control) or [2] (position control).
Deceleration ramp
This parameter serves as a deceleration ramp for torque control (P176[1] - MPRO_
AN
A0
_T
R
a
mp
for ISA00, P186[1] - MPRO_ANA1_TRamp for ISA01) or speed
control (P177[1] - MPRO_ANA0_SRamp for ISA00, P187[1] - MPRO_ANA1_ SRamp
for ISA01). Depending on the control mode being used (see Section
"Basic settings" on page 107), the value will be stored in parameter index [0] (torque
control), [1] (speed control) or [2] (position control).
8.8.1Specialcharacteristicsofpositioncontrolmode
In addition, it is also possible to define a threshold that will generate a run-on range
centred on the last setpoint. A ramp function will calculate a motion profile for the
position setpoint based on pre-defined acceleration and speed limits.
The position references on the analog channel are not applied immediately, but
dependent on a digital input. Accordingly, one of the ISD00 to ISD06 digital inputs
must be set to a value of "REFANAEN(28) = Enable analog reference value" (
see
Section "Digital Inputs" on page 232). The position setpoint being received will
only be applied if the corresponding digital input is active. The acceleration is
entered using P173[0] - MPRO_ANA0_TScale or P183[0] - MPRO_ANA1_TScale.
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
213
8 Motion profile
8.8.2Wirebreakmonitoring
P399 - CON_ANAWireBrk_Th can be used to configure wire break monitoring for
the analog inputs. For details, see Section "Wire break monitoring" on page 247.
ISAxx
Filter
Normalization
Prole PG/IP-Mode
P 0301
Filter
Offset
Scale
Prole
generator
IP-Mode
Analog chanel
Control
PG-Mode
P 0110
P 0109
Functionselect
TLIM (-4)
OVR (-3)
REFV (-2)
leer (-1)
OFF (0)
Dig
ital
Function
(1)-(28)
Control
Fig. 8.69: Setpoint processing structure