Moog MSD Servo Drive Series User Manual

Encoder channels Ch1 to Ch3 each feature their own encoder gearing, while
encoder channel Ch4 (virtual encoders) does not feature any encoder gearing.
In the case of encoder channel Ch2, it is assumed that the resolver will always be
used as a commutation encoder on the motor shaft. Because of this, the numerator
adjustment range is limited to a value of (+1) or (-1), while the denominator is set at a
fixed value of (+1), for the Ch2 encoder gearing ratio. This means that the only
option available is to invert the encoder signal (direction reversal).
As a whole, the encoder gearing is a scaling factor in the encoder evaluation system
and consists of numerator N (ENC_CHx_Num) for the motor side and denominator D
(ENC_CHx_Denom) for the encoder side (output side).
The following are used to configure the encoder gearing...
 Ch1withP 510[0] - ENC_CH1_NumandP 511[0] - ENC_CH1_Denom,
 Ch2withP 512[0] - ENC_CH2_NumandP 513[0] - ENC_CH2_Denom,
 Ch3withP 514[0] - ENC_CH3_NumandP 515[0] - ENC_CH3_Denom,
P No. Index Name Unit Description
510 0 ENC_CH1_Num Denominatorofchannel1
511 0 ENC_CH1_Denom Numeratorofchannel1
512 0 ENC_CH2_Num Denominatorofchannel2
513 0 ENC_CH2_Denom Numeratorofchannel2
514 0 ENC_CH3_Num Denominatorofchannel3
515 0 ENC_CH3_Denom Numeratorofchannel3
Table 6.14: Parameters for encoder gearing
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
69
6 Encoder
Parameters
 P 500[0] - ENC_CH1_ActVal[0].SingleTurnand
 P 500[1] - ENC_CH1_ActVal[1].MultiTurn
are used, for example, to indicate the current position value at the output for encoder
channel Ch1. These parameters can also be used for checking purposes during
commissioning.
NOTE
 Thisvalueattheencoderchanneloutput...
o
Alreadycontainstheencodergearingratiofactor(N/D)
o
Willbepassedthiswaythroughthesystem(incl.the
gearinggearratioalready)
o
I.e.is“thevalue”fromtheencoderevaluationsystem
The encoder gearing ratio has a multiplicative effect on the position progress, i.e.
either “expanding” or “compressing”.
A distinction can be drawn between an encoder’s motor mode and field mode:
 Motormode:Theencoderisthemotorcommutationencoder
 Fieldencoder:Theencoderisnotthemotorcommutationencoder(instead,it
isanadditionalencoderinthe“field”,e.g.usedforpositioncontrolpurposes)
In motor mode, the encoder gearing is used exclusively to synchronize the motor
shaft with the encoder shaft (default: 1:1 if the shaft is the same). In this case, a
position progress value will be passed to the system at the encoder channel output.
This value will be proportional to the position progress of the motor’s commutation
(adjusted for the pole pair number).
In field mode, the encoder gearing can be used “freely” for scaling purposes.

Moog MSD Servo Drive Series Specifications

General

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