Moog MSD - 4.8 Connection of the supply voltages; 4.8.1 Connection of the control section supply (+24 V DC)

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MSD Servo Drive User Manual SERCOS II
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Operation mode Description
0000 0000 0001 1011 Position control with position encoder 1 (e.g. motor encoder), drive-controlled
profile generation, with use of pre-control signals
0000 0000 0001 1100 Position control with position encoder 2 (e.g. external encoder), drive-con-
trolled profile generation, using pre-control signals
Table 6.2 Supported operation modes (S-0-0296)
Which of the three possible encoder interfaces of the MSD Servo Drive (Channel 1, Chan-
nel 2, Channel 3) are designated as position encoder 1 and 2 respectively is specified by
parameters P-0-0530 “Selection of position encoder 1”, and P-0-0531 ”Selection of posi-
tion encoder 2”.
The position encoder for position control specified by the operation mode must also be
selected via parameter P-0-0522 as the position encoder for position control. Otherwise
a fault will be triggered in response to the drive enable and the switch from phase 2 to
phase 3.
For further details on encoder configuration please refer to the MSD Servo Drive Opera-
tion Manual.
A valid interpolation method P-0-0370 must be configured for the position-controlled
operation mode. The following settings are possible:
2. Linear interpolation
Calculation of position and rotation speed
3. Spline interpolation with external pre-control.
Should only be used when the master control system also calculates and transmits
the pre-control signals for speed P-0-3055 and torque P-0-3056.
4. Spline Interpolation
Calculation of position, rotation speed and torque
5. Spline Interpolation
Calculation of position, rotation speed and torquez
To attain a higher resolution of the pre-control signals, an additional 16-bit decimal
place component P-0-3100 for the position (S-0-0047) can be transferred.
To use the higher resolution, the advanced pre-control mode (P-0-0379=1) must be
selected.
The advanced pre-control mode (P-0-0379) can deliver an improvement in pre-control
signals even without calculating P-0-3100, though this depends heavily on the scaling
(position resolution) and must be checked on the line in each individual case.
For more information on scaling and interpolation please refer to the MSD Servo Drive
Operation Manual.