Moog MSD Servo Drive Series

10.3Speedlimits
 P 328[0] - CON_SCON_SMaxcanbeusedtosetthemaximumspeedlimit.
Inthedefaultsettingthespeedlimitisthesameastheratedspeedofthe
motor.Thepossiblesettingrangeis0-1000%.Theparametercannotbe
changedduringoperation.Achangeisonlyeffectiveafterrestartingthe
control.
 P 337[0] - CON_SCON_SMaxScaleenablesthetorquelimitsetinP 328[0]
tobescaledonline–thatis,duringoperation.
 ItisadditionallypossibleviaP 333[0] - CON_SCON_TMaxNegandP 334[0]
- CON_SCON_TMaxPostochangethetorquelimitfordifferentdirectionsof
rotationduringoperation.
 P 744[0] - MON_SDiffMaxisusedtospecifythepermissibledifference
betweenthesetpointspeedandtheactualspeed(trackingerror)in
revolutions.
 P 745[0] - MON_RefWindowisusedtodefinethepointatwhichthesetpoint
isconsideredtohavebeenreached.
ID Index Name Unit Description
167 0 MPRO_REF_OVR % Motionprofilespeedoverridefactor
328 0 CON_SCON_SMax % Maximumspeedforspeedcontrol
333 0 CON_SCON_SMaxNeg % Scalingofnegativemotorspeedlimit
334 0 CON_SCON_SMaxPos % Scalingofpositivemotorspeedlimit
335 0 CON_SCON_DirLock Directionlockforspeedreferencevalue
337 0 CON_SCON_SMaxScale % Scalingofmotorspeedlimit
740 0 MON_SpeedThresh rpm Monitoringspeedthreshold
744 0 MON_SDiffMax rpm Speedtrackingerror
Table 10.3: “Limits / thresholds - Speed limits” parameters
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
253
10 Limits / thresholds
10.4Positionlimits

Position limiting is only applicable in positioning mode and will be enabled
onlyoncehomingissuccessfullycompleted(see Section"Homing"on page
189).
 P 2235[0] - MPRO_402_SoftwarePosLimitisusedtodefinethelower
positionlimit.P 2235[1] - MPRO_402_SoftwarePosLimitisusedtodefine
theupperpositionlimit.Thisfunctionisalsoreferredtoas“softwarelimit
switches”.
 Inaddition,P 743[0] - MON_UsrPosDiffMaxcanbeusedtodefinethe
maximumtrackingerror.
 P 746[0] - MON_UsrPosWindowcanbeusedtodefinethezerospeed
window(positionsetpointreached).
Positioning mode Function
Absolute
Beforeenablinganabsolutemotiontask,acheckismadeto
seewhetherthetargetisinthevalidrange–thatis,within
thesoftwarelimitswitches.Ifthetargetisoutside,nodriving
jobissignalledandtheprogrammederrorreactionasperP
30 Error Reactionsisexecuted.
Endless
Thismodecanonlybeusedwhenusingspeed-controlled
operation.Thedrivetravelsuntilasoftwarelimitswitchis
detected.Thentheprogrammederrorreactionisexecuted.
Table 10.4: Positioning mode