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 (P508[0] - ENC_CH4_Sel = 2),
and a value of 4 must be set for P520[0] - ENC_MCon, P521[0] - ENC_SCon and
P522[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
ConfigurenoisecovariancematricesQandR.Thisshouldbedone
automaticallybysettingthecontrolparameterforencoderchannel4
(P 783[0] - ENC-CH4-Ctrl)toavalueof6.
2
Manuallyconfigurethetestsignalgenerator:
Recommendation:Sinusoidaltestsignalindaxis
P792[09]=1
P792[19]=500Hz
P792[2]=P792[9]=10%ofratedmotorcurrent
P792[79]=15%ofratedmotorspeed
P792[89]=5%ofratedmotorspeed
P792[9]=30%ofratedmotorcurrent
Settheothervaluesto0
Orsetthecontrolparameterforencoderchannel4(P 783[0] - ENC-CH4-
Ctrl)toavalueof3,whichwilltriggerageneralinitializationroutinein
whichsteps1and2,aswellasencoderinitialization,willbe
automaticallycarriedoutbasedonthemotorparameters.
Table 6.30: Configuring the Kalman filter for sensorless control
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