Moog MSD Servo Drive Series

combination with a test signal when the motor is stopped. In addition, the total
moment of inertia resulting from the motor and the connected load must be set as
accurately as possible.
The encoder communications will be used to calculate and pass the actual speed
and actual position. Accordingly, in order to select the sensorless method, a value of
2 must be set for encoder channel 4 in the selector (P508[0] - ENC_CH4_Sel = 2),
and a value of 4 must be set for P520[0] - ENC_MCon, P521[0] - ENC_SCon and
P522[0] - ENC_PCon.
The Kalman filter needs to be configured further by following the steps below:
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
94
6 Encoder
Step Action
1
ConfigurenoisecovariancematricesQandR.Thisshouldbedone
automaticallybysettingthecontrolparameterforencoderchannel4
(P 783[0] - ENC-CH4-Ctrl)toavalueof6.
2
Manuallyconfigurethetestsignalgenerator:
Recommendation:Sinusoidaltestsignalindaxis
P792[09]=1
P792[19]=500Hz
P792[2]=P792[9]=10%ofratedmotorcurrent
P792[79]=15%ofratedmotorspeed
P792[89]=5%ofratedmotorspeed
P792[9]=30%ofratedmotorcurrent
Settheothervaluesto0
Orsetthecontrolparameterforencoderchannel4(P 783[0] - ENC-CH4-
Ctrl)toavalueof3,whichwilltriggerageneralinitializationroutinein
whichsteps1and2,aswellasencoderinitialization,willbe
automaticallycarriedoutbasedonthemotorparameters.
Table 6.30: Configuring the Kalman filter for sensorless control