Moog MSD Servo Drive Series

ID Index Name Unit Description
507 0 ENC_CH3_Sel=1 EncoderselectionsettoSINCOS(1)
514 0 ENC_CH3_Num Encodergearing:Numerator
515 0 ENC_CH3_Denom Encodergearing:Denominator
570 0 ENC_CH3_Abs Absolutevalueinterfaceselection(one-time
reading)
572 0 ENC_CH3_Lines NumberofLines(Sin/Cos/TTLencoders)
573 0 ENC_CH3_MultiT NumberofMultiTurnbits(absoluteencoder)
574 0 ENC_CH3_SingleT NumberofSingleTurnbits(absoluteencoder)
575 0 ENC_CH3_Code Codeselection(SSIencoder)(binary,Gray)
576 0 ENC_CH3_Mode Modeselection(SSIencoder)
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)
586 0 ENC_CH3_Corr Signalcorrectiontype
587 0-4 ENC_CH3_CorrVal Signalcorrectionvalues
577 0 ENC_CH3_EncObsMin Encodermonitoringminimum,sqrt(a^2+b^2)
581 0... ENC_CH3_AbsEncStatus Errorandstatuscodes(absoluteencoder)
582 0 ENC_CH3_PeriodLen nm Lengthofsignalperiod(Sin/Coslinearencoder)
583 0 ENC_CH3_
DigitalResolution
nm Lengthofoneincrement(linearabsoluteencoder)
580 0 ENC_CH3_Info Encoderinformation
636 0 ENC_CH3_CycleCount
Sampling cycle in: n x 125 μ (microseconds)
639 0 ENC_CH3_
NominalincrementA
Sign.
per.
NominalincrementA(distancecodedabs.
encoder)
631 0 ENC_CH3_
NominalincrementB
Sign.
per.
NominalincrementB(distancecodedabs.
encoder)
637 0 ENC_CH3_AbsInitMode Modeabsolutevalueformation
Table 6.24: Parameters for Channel 3 (X8) - Sin/Cos encoder
Some parameters (e.g. Sel, Num, Denom, Abs, Lines, MultiT, SingleT, CorrVal) are
self-explanatory.
The Code and Mode parameters are described in Section "SSI (cyclical)X7" on page
66.
 P 584[0] - ENC_CH3_MTBase=MinimumMultiTurnposition
TheMTBaseparameterisusedtosetapositioninthemulti-turnencoder’s
travelpaththatdefinesthepointofdiscontinuity(overflow/underflow)forthe
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
83
6 Encoder
absolutevalueinitialization(thatis,the“multi-turnbasis”).Assuminga
bipolarencodermeasuringrange,allpositionvaluesthatfallbelowMTBase
willbeshifted“up”(thewholeMTrangewillbeaddedtothemonce).This
methodmakesitpossibletoplacethepointofdiscontinuityatanypoint
withintheencoder’sentiremeasuringrange.Bydefault,MTBasewillbeset
tothelowestpossiblevaluefortheparameter,i.e.reliablyoutsideofthe
encoder’svaluerange:Inthiscase,thefullbipolarrangewillremain
unaffected,asvalueswillneverfallbelowthisMTBasethreshold(see Section
"Channel3:InterfaceX8(optional)"onpage74 as well).
 P 585[0] - ENC_CH3_MTEnable=MultiTurnasSingleTurn
TheMTEnableparametermakesitpossibletousemulti-turnencodersas
single-turnencodersfortestpurposes.Negativelogic:DefaultMTEnable=0
means"MultiTurn-EnableON".

P 586[0] - ENC_CH3_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 577[0] - ENC_CH3_EncObsMin=Encodermonitoringminimum,sqrt
(a^2+b^2)
TheEncObsMinparameterisusedtoscaletheSin/Coswirebreak
monitoringandrepresents“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,Sin/Coswirebreakmonitoringwillbedisabled(also
see Section"Channel3:InterfaceX8(optional)"onpage74).
 P 581[0] - ENC_CH3_AbsEncStatus=Errorandstatuscodes(absolute
encoder)
 P 582[0] - ENC_CH3_PeriodLen=Sin/Coslinearencoderand
P 583[0] - ENC_CH3_DigitalResolution-linearabsoluteencoder
arethelengthofananalogSin/Cossignalperiod,innanometres,andthe
lengthofadigitalincrementinthepositionfromtheabsolutevalueinterface,
innanometres.BothparametersareusedforlinearEnDatencoders(instead
ofMultiTandSingleTbits(rotary)).Incontrast,linearSSIencodersare