Moog MSD - Weighting of Acceleration Data; Weighting of Translatory Acceleration Data; Weighting of Rotary Acceleration Data

moog
MSD Servo Drive User Manual SERCOS II
44
7.3 Weighting of acceleration data
The acceleration weighting is defined by the parameters listed in table 7 12. All accelera-
tion data of the drive (e.g.: setpoint, actual and limit values) are subject to the preset
weighting. If “No weighting“ is selected via parameter S-0-0160, the weighting factor
and weighting exponent are irrelevant. The acceleration data is then subject to a differ-
ently defined weighting.
IDN Description
S-0-0160 Weighting method for acceleration data
S-0-0161 Weighting factor for acceleration data
S-0-0162 Weighting exponent for acceleration data
Table 7.12 Scaling parameter for acceleration weighting
7.3.1 Weighting of translatory acceleration data
Translatory weighting is selected via S-0-0160. The significance of the LSB of the transla-
tory acceleration data is defined by the following equation:
LSB significance =
Time unit
2
Travel unit
· S-0-0161•10
S-0-0162
When translatory preferential weighting is selected, the weighting as per the following
table applies.
Weighting method
(from S-0-0160)
Unit
(from S-0-0160)
Weighting
factor (S-0-0161)
Weighting
exponent (S-0-0162)
Preferential
weighting
Translatory m/s^2 1 -6 0.001 mm/s^2
Table 7.13 Preferential weighting of translatory acceleration data
7.3.2 Weighting of rotary acceleration data
Rotary weighting is selected via S-0-0160. The significance of the LSB of the rotary ac-
celeration data is defined by the following equation:
LSB significance =
Time unit
2
Travel unit
· S-0-0161•10
S-0-0162
When rotary preferential weighting is selected, the weighting as per the following table
applies.
Weighting method
(from S-0-0160)
Unit
(from S-0-0160)
Weighting
factor (S-0-0161)
Weighting
exponent (S-0-0162)
Preferential
weighting
Rotary rad/s^2 1 -3 0.001 rad/s^2
Table 7.14 Preferential weighting of rotary position data
Bits 2-0
Weighting method
0 No weighting
1 Translatory weighting
Rotary weighting
Bit 3
Weighting method
0 Preferential weighting
1 Parameter weighting
Bit 4
Distance unit
0 rad (for rotary weighting) / Metres (for translatory weighting)
1 Reserved (for rotary weighting) / Inches (for translatory weighting)
Bit 5
Time unit
0 Seconds
1 Reserved
Bit 6
Data source
0 On the motor shaft
1 On the load side
Bit 7-15
Reserved
Table 7.15 Bit fields in the acceleration data weighting method parameter (S-0-0160)