Moog MSD User Manual

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MSD Servo Drive User Manual SERCOS II
35
[ Chapter 6 ]
6.3 Position control with drive-controlled
position profile generation
In this operation mode the target position specified in S-0-0258 is approached in time-
optimized mode adhering to the maximum positioning velocity S-0-0259 and maximum
positioning acceleration S-0-0260.
In drive-controlled positioning the position specified in S-0-0282 is approached in time-
optimized mode at the velocity preset in S-0-0259 and the acceleration configured under
S-0-0260.
The positioning commands are executed in accordance with S-0-0346 (positioning con-
trol word) and, in modulo mode, also S-0-0393 (positioning command word).
Modulo mode is defined according to the weighting in S-0-0076 (bit 7) (see section 7).
Applicable parameters:
• S-0-0282 Target position (not S-0-0258)
• S-0-0259 Positioning velocity
• S-0-0260 Acceleration and deceleration
• S-0-0346 Positioning control word
and for modulo mode additionally:
• S-0-0393 Positioning command word
• S-0-0103 Modulo value
• S-0-0294 Modulo divisor
• S-0-0346 is defined as follows:
Bit 0: Change from 0 ->1 Adopt new position
Bit 1/2: 00 = Position mode
01 = Jog +
10 = Jog -
11 = Halt
Bit 3: 0 = Absolute
1 = Relative (only where bits 1/2 = 00)
Bit 4: 0 = Referred to target position (relative jobs are totalized)
1 = Referred to actual position (only where bit 3 = 1 and bits 1/2 = 00)
Confirmation of import into S-0-0419 (Position Acknowledge). S-0-0419 Position Ac-
knowledge is cleared when S-0-0346 bit 0 changes from 1 -> 0 or when the mode is
switched.
Modulo mode
In modulo mode the rotation distance is calculated by way of the SERCOS scaling from
S-0-0103 * S-0-0294.
S-0-0393 is defined as follows (only with the modulo function configured):
Bit 1-0: Direction of rotation with modulo function
00 = Positive direction
01 = Negative direction
10 = Shortest distance (distance-optimized)
11 = Reserved

Moog MSD Specifications

General

Brand	Moog
Model	MSD
Category	Servo Drives
Language	English