Moog MSD Servo Drive Series

Other parameters, such as Num and Denom, are described elsewhere (see
Section
"X6 encoder gearing" on page 73).

P 561[0] - ENC_CH2_Corr=Signalcorrectiontype
TheGPOCroutineusedfortracksignalcorrectionpurposesforsine/cosine
signalsisusedtocompensateforsystematicerrors.Theroutineiscontrolled
withtheCorrandCorrValparameters(see Section"Signalcorrection GPOC
(GainPhaseOffsetCorrection)"onpage71).

P 563[0] - ENC_CH2_EncObsMin=Encodermonitoringminimum,sqrt (a²
+b²)
ThisparameterisusedtoscaletheresolverandSin/Coswirebreak
monitoringandrepresents the“downwards threshold”foranerror message.
Thedefaultsettingis0.2,correspondingtoapprox.20%ofthe tracksignals’
amplitude(approx.80%correspondstoapprox.1Vss).If EncObsMinisset
to0,the resolverandSin/Coswirebreakmonitoringwillbe disabled(see
Section"Channel1:InterfaceX7"onpage56 aswell).
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
71
6 Encoder
When using long resolver cables, there will be a phase difference between the drive
exciter output signal and the drive track input signals (S1-S3 and S2-S4). This phase
difference can be compensated for with P565[0] - ResExc: ResExc is the time, in µs
(microseconds),
by which the resolver excitation will lead. Moreover, P565[1] - Delay
can be used to compensate for a commutation dead time, which can become
important in the case of higher rotating field frequencies. When there is an absolute
reduction in signal strengths (amplitudes) as a result of the long cables, P566[0] -
ENC_CH2_Amplitude can be used to subsequently increase these amplitudes (up to
a maximum of +10.5 %) so that there will be a magnitude level of 80–85 % for track
signals. This is achieved by adjusting the resolver excitation amplitude. Parameter
P567[0] - ENC_CH2_EncObsAct can be used to check the effects of adjusting the
compensation settings. It returns the length of the phasor for track signals (sqrt(a²+b²))
and is accordingly a measure of “the amplitude” of track signals: If the phase shift is
properly corrected at the end of the compensation adjustment process, you can save
the settings.
NOTE
 ThisfunctionisnotavailablefortheMSDSingle-AxisServoDrive
Compact.
 Donotusecablelengths>50mwithoutfirstconsultingwith
Moog.
6.6.2SignalcorrectionGPOC(GainPhaseOffset
Correction)
The resolver and Sin/Cos incremental encoder demonstrate systematic errors that
are reflected in the measured position and in the speed calculated from this (gain and
phase errors, offset components of the tracking signal). The GPOC method for track
signal correction compensates systematic errors. GPOC is available for encoder
channels 1 and 2.
6.6.1Compensationforlongresolvercables
P No. Index Unit Description
565
Name / Settings
ENC_CH2_LineDelay µs Correctionofphaseshiftforcablelengths
>50m(onlyafterconsultationwith
LTIMotion).
0 ResExc us Excitersignalphaseshift
Delay us Compensationforcommutationangle
delay
566 0 ENC_CH2_Amplitude ± Correctionofamplitudeforcablelengths>
50m(onlyafterconsultationwith
LTIMotion).
567 0 ENC_CH2_EncObsAct Amplitudeofanaloguesignal
Table 6.16: Encoder configuration channel 2 (X6) parameters (continue)
The Sel and Lines parameters are self-explanatory.