Moog MSD Servo Drive Series User Manual

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6.1.3 Actual values at the encoder channel outputs
6.2 Encoder selection
6.3 Encoder offset
6.4 Connectors and pin assignations
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6.4.1 Connector for resolver (X6) 54
6.4.2 Connector for high-resolution encoders (X7) 54
6.5 Channel 1: Interface X7 56
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6.5.1 Main parameters for encoder channel Ch1
6.5.2 EnDat (cyclical)X7
6.5.3 Hall sensor X7
6.5.4 Sin/Cos/ TTLX7
6.5.5 SSI (cyclical)X7
6.5.6 Encoder gearing
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6.6 Channel 2: Interface X6 70
6.6.1 Compensation for long resolver cables 71
6.6.2 Signal correction GPOC (Gain Phase Offset Correction) 71
6.6.3 X6 encoder gearing 73
6.7 Channel 3: Interface X8 (optional) 74
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6.7.1 Main parameters for encoder channel Ch3
6.7.2 X8 absolute value interfaces
6.7.3 EnDat (cyclical)X8
6.7.4 Hall sensor X8
6.7.5 Sin/Cos/ TTLX8
6.7.6 SSI (cyclical) X8
6.7.7 Encoder gearing
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6.8 Channel 4: Virtual encoder 88
6.8.1 Sensorless control synchronous motor 89
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6.8.2 Sensorless asynchronous motor control
From firmware 124.20-08 additional document CC41778-001 applies
6.9 Redundant encoder
6.10 Axis correction
6.11 Oversampling
6.12 Multi-turn encoder as a single-turn encoder
6.13 Distance-coded reference marks
6.14 Overflow in multi-turn range
6.15 Zero pulse test
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7 Control 105
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
7
Table of contents
7.1 Control structure overview 105
7.1.1 Setting 106
7.2 Basic settings 107
7.2.1 Motor control basic settings 107
7.2.2 Mass inertia detection 108
7.3 Torque controller 110
7.3.1 Current controller optimization 110
7.3.2 Creating the transfer function 111
7.3.3 Current actual value filter 112
7.3.4 Detent torque compensation 112
7.3.5 Advanced torque control 122
7.3.6 Torque control with defined bandwidth 125
7.4 Speed controller 126
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7.4.1 Advanced speed control
7.4.2 Digital filter
7.4.3 Analysis of Speed control
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7.5 Position controller settings 135
7.5.1 Pre-control 135
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7.5.2 Friction torque compensation (friction)
7.6 Synchronous motor field-weakening
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7.6.1 Variant 1: Default
7.6.2 Variant 2: Modified characteristic
7.6.3 Voltage controller
7.6.4 Field-weakening of asynchronous motor voltage controller
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7.7 Synchronous motor field-weakening
From firmware 124.20-08 additional document CC41778-001 applies
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7.7.1 Variant 1 (Table)
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7.7.2 Variant 2 (Calc)
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7.7.3 Synchronous motor voltage controller field weakening
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7.8 Synchronous motor auto commutation
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7.8.1 IENCC(1) method
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7.8.2 LHMES(2) method
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7.8.3 IECON(4) method
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7.8.4 Test signal generator
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7.9 V/Hz mode
7.10 Process controller 154
7.10.1 Features
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7.10.2 Description of control structure
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Moog MSD Servo Drive Series Specifications

General

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