Moog MSD Servo Drive Series User Manual

Step Action
3
Configuretheautocommutationfunction
Mode 1
As described in Section "Auto commutation" on page 90
Recommendation:
P390[0] = 1
P392[0] = 500
P392[1] = 500
P392[2] = 500
P392[3] = 500
P393[0] = Rated motor current
P393[1] = Rated motor current
Mode 2
Parameters 792.1 and 792.2 are used as the measuring frequency and
measuring amplitude (see step 2)
Recommendation:
P794[0] = 100ms
P794[1] = 50 % of rated motor current
P794[2] = 250ms
4
Startingtheexpandedspeedcontrolcircuitisnotabsolutelynecessary,
butwillresultincontrolwithbetterdynamicperformance.Thecircuitcan
bestartedbysettingP 350[0] - SEL_ObserverMethodtoavalueof4.
P 339 - CON_SCON_Kalmancanbeusedfortuningpurposes.
5
Ifnecessary,adjustthenoisecovariancematricesandthefiltertime
constantsfortheexpandedspeedcontrolcircuit(changeswilltakeeffect
inreal-time).
Table 6.30: Configuring the Kalman filter for sensorless control (continue)
MOOG
ID
No.: CB40859-001 Date: 02/2018
MSD Servo Drive- Device Help
95
6 Encoder
In order to make the encoderless control commissioning process easier, a function
used to calculate the position difference between encoderless control and a real
encoder can be activated. To use this function, the encoder channel that will be used
for the comparison must be selected in P797[0] - ENC_CH4_Kalman_Compare.
Make sure that the encoder channel is configured correctly! This also includes the
encoder mounting angle P349[0] - CON_FM_MConOffset. In addition to the
position difference, the encoder angle is also used to determine the d current and q
current as scope variables.
6.8.2Sensorlessasynchronousmotorcontrol
Step Action
1
Setmotortype(P 450[0] - MOT_Type)to“2(ASM)=asynchronous
motor”
2 Enterthemotorname(P 451[0] - MOT_Name)
3 Executeidentification
4 Savetheparametersthatweredetermined
5
Setmotortype(P 450[0] - MOT_Type)to“7(ASM_SFC)=asynchronous
motor_SFC”
6
Setencoderforcommutationandtorquecontrol(P 520[0] - ENC_MCon)
to“CH4(4)=virtualencoder(Channel4)”
7 SetP 508[0] - ENC_CH4_Selto"8(SFC)"
TheencoderforcommutationwillimplicitlybeSFCasaresultofthenew
motortype.Ifthereisarealencoder,speedorpositioninformationcan
beusedfortestingpurposes.
8 Runthemotorwithspeedcontrol,usingramps.
Table 6.31: Configuring the asynchronous motor for sensorless control
From firmware 124.20-08 additional
document CC41778-001 applies

Moog MSD Servo Drive Series Specifications

General

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