Moog MSD - Page 6

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MSD Servo Drive User Manual SERCOS II
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7 Weighting ............................................................................. 39
7.1 Weighting of position data .....................................................................................39
7.1.1 Weighting of translatory position data .........................................................39
7.1.2 Weighting of rotary position data ................................................................39
7.1.3 Modulo weighting .......................................................................................41
7.1.4 Position polarity ...........................................................................................41
7.2 Weighting of velocity data ......................................................................................42
7.2.1 Weighting of translatory velocity data .........................................................42
7.2.2 Weighting of rotary velocity data .................................................................42
7.2.3 Velocity polarity ...........................................................................................43
7.3 Weighting of acceleration data ...............................................................................44
7.3.1 Weighting of translatory acceleration data ..................................................44
7.3.2 Weighting of rotary acceleration data ..........................................................44
7.4 Weighting of torque and force data ........................................................................45
7.4.1 Percentage weighting of torque and force data ...........................................45
7.4.2 Weighting of force data ...............................................................................45
7.4.3 Weighting of torque data ............................................................................46
7.4.4 Torque polarity ............................................................................................46
8 Homing ................................................................................. 49
8.1 “Drive-controlled homing” command .....................................................................49
8.2 Setting of SERCOS encoders 1 / 2 ...........................................................................49
8.3 Homing velocity ......................................................................................................49
8.4 Homing acceleration ...............................................................................................49
8.5 Homing method .....................................................................................................49
8.6 Reference distance 1/2 ............................................................................................49
8.7 Reference distance offset 1/2 .................................................................................. 49
8.8 Reference cam, limit switches .................................................................................50
8.8.1 Function selector - digital inputs and outputs ..............................................50
9 Touchprobe function ............................................................. 51
10 Parameter access via the service channel ................................ 55
10.1 SERCOS parameter list ............................................................................................55