Moog MSD Servo Drive Series User Manual

P No. Index Name Unit Description
792 2 d-Amplitudesinus A SCtestsignal:dcurrentamplitudeofsinusoidal
signal
792 3 q-Amplitudesinus A SCtestsignal:qcurrentamplitudeofsinusoidal
signal
792 4 PRBStime ms SCtestsignal:PRBSsignaltime
792 5 d-AmplitudePRBS A SCtestsignal:dcurrentamplitudeofPRBS
signal
792 6 q-AmplitudePRBS A SCtestsignal:qcurrentamplitudeofPRBS
signal
792 7 Fullsignalrange rpm SCtestsignal:Fulltestsignalamplituderange
792 8 Increasingsignalrange rpm SCtestsignal:Lineartransitionrangeupuntil
whichthetestsignalisreducedto0
792 9 d-currentoffset A SCtestsignal:dcurrentoffsetofsinusoidal
signal
794 ENC_CH4_Kalman_
ICOM
Sensorlesscontrol:Autocommutation
794 0 SettlingTime ms SCautocommutation:Risetime
794 1 ICOM_current A SCautocommutation:Currentoffset
794 2 ICOM_time ms SCautocommutation:Time(0=OFF)
794 3 ICOM_1st_L_ident mH SCautocommutation:Firstmeasured
inductance
794 4 ICOM_2nd_L_ident mH SCautocommutation:Secondmeasured
inductance
796 ENC_CH4_Kalman_isd_
add
Sensorlesscontrol:Additiveload-dependentd
current
796 0 Amplitude A SCload-dependentdcurrent:Amplitude
796 1 Fullsignalrange A SCload-dependentdcurrent:qcurrentatwhich
themaximumdcurrentisinjected
796 2 Increasingsignalrange A SCload-dependentdcurrent:Transitionrange
upuntilwhichthedcurrentisreducedto0
796 3 PT1_Tfil ms SCload-dependentdcurrent:Filtertimeford
current(PT1)
797 0 ENC_CH4_Kalman_
Compare
Sensorlesscontrol:Referenceencoder
selection
Table 6.29: “Sensorless synchronous motor control” parameters (continue)
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
90
6 Encoder
6.8.1.1Autocommutation
When using sensorless control, auto commutation is required in order to ensure
that the motor will not align itself towards a direction in an uncontrolled manner.
There are two options for commutating the motor when using sensorless operation:
6.8.1.1.1Mode1(defaultmethodfornon-brakedmotors)
This mode uses the “Current injection (IENCC)” default auto commutation from
P390[0] - CON_ICOM.
If the encoder selection set with P520[0] - ENC_MCon, P521[0] - ENC_SCon and
P522[0] - ENC_PCon has been set to channel 4, the commutation angle will be set
to 0 at the end of the alignment phase, as the motor will be in the d axis at this point.
6.8.1.1.2Mode2
In this auto commutation mode, a positive measuring current and a negative
measuring current are injected into the motor in order to take inductance
measurements. The measured inductances can then be used to determine whether
the motor is in an unstable rest position. The identified values will be entered in
P794[3] - ICOM_1st_L_ident and P794[4] - ICOM_2nd_L_ident. It is necessary to
ensure that the two values are sufficiently different from each other. If the difference
is too small, you can increase the amplitude. However, please note that excessively
large amplitudes can result in the motor being demagnetized if auto commutation is
used frequently. In case of doubt, ask the motor manufacturer what the maximum
permissible current is.
P792[1] - Frequency and P792[2] - d-Amplitude sinus will be used as the
measuring frequency and measuring amplitude. In addition, P794[0] - SettlingTime,
P794[1] - ICOM_current and P794[2] - ICOM_time need to be configured.

Moog MSD Servo Drive Series Specifications

General

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