Moog MSD User Manual

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MSD Servo Drive User Manual SERCOS II
34
6.2 Flux Control
In this operation mode the master specifies a speed setpoint (S-0-0036).
Figure 6.2
G(s)
-
S-0-0100
S-0-0101
S-0-0040
S-0-0156
Torque-controlled
motor
S-0-0036
S-0-0037
S-0-0081
alternatively
S-0- 0322
GnFF(s)
Gru(s)
GmFF(s)
P-0-0458
P-0-0428
P-0-0333
P-0-0334
P-0-0167
P-0-3005
P-0-3006
P-0-0320
P-0-0321
P-0-0325
P-0-0326
P-0-0327
P-0-0329
P-0-0330
P-0-0331
P-0-0332
P-0-0460
P-0-0351
P-0-0371
Schematic diagram of torque control
Number Description Unit
S-0-0036 Velocity setpoint VEL
P-0-3005 Maximum positive acceleration ACC
P-0-3006 Maximum negative acceleration ACC
S-0-0037 Additive velocity setpoint VEL
P-0-0371 Speed setpoint filter time constant ms
P-0-0458 Motor nominal speed 1/min
P-0-0328 Speed limit (reference variable: motor nominal speed) %
P-0-0333 Negative speed limit (reference variable: motor nominal speed) %
P-0-0334 Positive speed limit (reference variable: motor nominal speed) %
P-0-0167 Velocity override %
P-0-0320 PI speed drive gain Nm min
P-0-0321 PI speed drive integral-action time ms
Alternatively
S-0-0100 PI speed drive gain Nm min
Table 6.4 Speed control parameter
Number Description Unit
S-0-0101 PI speed drive integral-action time ms
P-0-0322 PI speed drive gain scaling factor %
P-0-0325 Digital filter
P-0-0326 Digital filter
P-0-0327 Digital filter
P-0-0329 Absolute torque limit (reference variable: motor nominal torque) %
P-0-0330 Negative torque limit (reference variable: motor nominal torque) %
P-0-0331 Positive torque limit (reference variable: motor nominal torque) %
P-0-0332 Online torque limit (reference variable: motor nominal torque) %
P-0-0460 Motor nominal torque Nm
P-0-0351 Actual speed filter time ms
S-0-0040 Actual speed 1 VEL
S-0-0156 Actual speed 2 VEL
Table 6.4 Speed control parameter

Moog MSD Specifications

General

Brand	Moog
Model	MSD
Category	Servo Drives
Language	English