Moog MSD Servo Drive Series

6.3Encoderoffset
“Encoder offset” refers to the commutation offset. This offset is the angular offset
between the motor’s electromechanical layout (U phase orientation) and the zero
position of the commutation encoder (depends on the encoder’s position and
alignment on the motor shaft) in “electrical degrees”. If the encoder’s zero position is
aligned with the direction of the motor’s U phase, the commutation offset is 0
degrees.
The “Encoder selection” screen (see Section "Encoder selection" on page 51) will
show the currently set commutation offset as the “encoder offset” based on the
encoder used for the “commutation and torque control" (MCON) control level.
To determine the offset value again, click on the “Detect” button. In order for this
function to work correctly, the selected encoder for “commutation and torque control”
must be the motor encoder (commutation encoder).
The process takes about 10 seconds. After this, the current commutation offset value
will be entered in P349[0] - CON_FM_MConOffset and the original parameter
setting will be restored. In order to store the commutation offset in the device in a
non-volatile manner, the device setting must be stored in non-volatile memory.
It is not necessary to determine the commutation offset for Moog motors, as the
encoders are aligned. In the case of third-party motors that are not aligned, the
commutation offset needs to be determined with the help of a wizard. For the
definition the motor is run in "Current control" mode (at rated current). For a correct
definition it is necessary for the motor to be able to align itself freely.
A connected brake is automatically vented, provided it is connected to the brake
output and the output has been configured for use of a brake.
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
53
6 Encoder
6.4Connections and pin assignations
NOTE
 Thissectiononlyliststhemostimportantconnectorsandpinouts
soastomakecommissioningeasier.
 Forafulldescriptionoftheencoderconnectors(designation,
position,pinout,function)forcorrectlyinstallingthedevices,see
the“Encoderconnection”chapterinthe
 OperationManualMSDServoDriveSingle-AxisSystem
(IDNo.:CA65642-001),
 OperationManualMSDServoDriveMulti-AxisSystem
ServoDrive(IDNo.:CA97554-001),
 OperationManualMSDSingle-AxisServoDriveCompact
(IDNo.:CA97555-001),
 AndtheMSDServoDriveFunctionalSafetySpecification
inthecaseofservodrivewithan“integratedsafety
control”design(IDNo.:CB38398-001).
 Pleasenotethatthepinoutsforevaluatingthezeropulseforthe
MSDServoDriveandMSDSingle-AxisServoDriveCompactare
differentfromeachother.

Ifyourservodrivecomeswithatechnologyoptionwithan
encoderfunction(X8connector),seethecorresponding
Specificationforadescriptionoftheencoderconnections(see
Section"Applicabledocumentation"onpage11).