Moog MSD Servo Drive Series User Manual

Signal correction (GPOC)
GPOC is a special Moog real-time process that is used to improve the quality of
Sin/Cos signals before they are used to calculate a position. If “SINCOS(1)” is
selected as the “main interface,” this process may be useful. For details, see
Section "Signal correction
GPOC (Gain Phase Offset Correction)" on page 71.
6.7.1MainparametersforencoderchannelCh3
The following table lists the most important parameters for the Ch3 encoder channel.
These parameters are described in the chapters that go over selecting the various
encoders with P507[0] - ENC_CH3_Sel and P570[0] - ENC_CH3_Abs.
The Lines, MultiT and SingleT parameters are self-explanatory.
Code and Mode are used to set SSI modes. If Mode=1, wire break monitoring (if any)
will be disabled, for example. If Mode=0, it will be enabled instead (default).
In the case of linear encoders, PeriodLen and DigitalResolution will be needed
instead of MultiT and SingleT.
P No. Index Name / Setting Unit Description
507 0 ENC_CH3_Sel MainselectiononencoderchannelCh3
570 0 ENC_CH3_Abs Absolutevalueinterfaceforone-timereading
572 0 ENC_CH3_Lines NumberofanalogSin/Coslinesperrevolution
(TTLlinesaswell)
573 0 ENC_CH3_MultiT Numberofmulti-turnbitsforthedigitalinterface
574 0 ENC_CH3_SingleT Numberofsingle-turnbitsforthedigitalinterface
575 0 ENC_CH3_Code Codeselection(forSSIencoders)(binary,Gray)
576 0 ENC_CH3_Mode Modeselection(forSSIencoders)
583 0 ENC_CH3_
DigitalResolution
nm Linearencoders:Lengthofadigitalincrementin
nm(nanometres)
584 0 ENC_CH3_MTBase Definitionofpointofdiscontinuityinmulti-turn
range
585 0 ENC_CH3_MTEnable EnableMultiTurnuse(negativelogic,1=MToff)
636 0 ENC_CH3_CycleCount Samplingcyclein:nx125μ(microseconds)
Table 6.20: Main parameters for encoder channel Ch3
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
78
6 Encoder
 P 577[0] - ENC_CH3_EncObsMin
IfyousetEncObsMinto0,Sin/Coswirebreakmonitoringwillbedisabled.
Thedefaultvalueis0.2(20%)andstandsforacalculatedamplitudevalue
(calculatedusingthetwoSin/Cossignals)ofx=sqrt(a²+b²).IftheSin/Cos
signalsareequaltoapprox.1Vssincomparison,approx.0.8willbe
calculatedhere(approx.80%magnitudeattheA-Dconverters;approx.0.25
VssSin/Coswillyieldapprox.0.2here(20%magnitudeattheA-D
converter)).TheerrorthresholdcanadjustedwithEncObsMin.
 P 584[0] - ENC_CH3_MTBase
Whenusedwithitsdefaultsetting,thisparameterwillensurethatthe
absolutevalueinitialization“startsupwithplus-minus”.I.e.theencoder’s
multi-turnvaluerangefrom0tomaxwillbemappedto-½maxto+½max.
Therangefrom+½maxtomaxwillbeinitializedasnegative;inthiscase,the
pointofdiscontinuitywillbefoundat½max.Thiscanbechangedwith
MTBase.WhenMTBase=0,theabsolutevalueinitializationwill,for
example,“startupwithzerotomax”.I.e.theencoder’smulti-turnvaluerange
from0tomaxwillbemappedto0tomax.Therangefrom+½maxtomaxwill
beinitializedaspositive;inthiscase,thepointofdiscontinuitywillbefound
at0.
 P 585[0] - ENC_CH3_MTEnable
IfyousetMTEnableto1,youcanuseanavailablemulti-turnrotaryencoder
asasingle-turnrotaryencoder,whichcancomeinhandyfortesting
purposes.
NOTE
 AstherearevariousprotocolmodesavailableforSSIencoders
(with/withoutwirebreakmonitoring,with/withoutparitybit,etc.),
consultwithyourprojectsupervisorortheHelplineMoogbefore
usinganyspecialSSIprotocolmodes.
As the functionality of the parameters for encoder channel Ch3 is predominantly
identical to that of the parameters for encoder channel Ch1, it is recommended to
read the description for the Ch1 encoder channel parameters.

Moog MSD Servo Drive Series Specifications

General

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