Moog T200 User Manual

SECTION 6: T200 FUNCTIONAL OVERVIEW T200 User's Manual
PAGE 6-3
6.7.2.6 Analog Torque Limiting in Velocity Mode..........................................................................................................6-38
6.7.2.7 Velocity Mode Functional Block Diagram...........................................................................................................6-38
6.7.2.8 Velocity Loop Tuning ..........................................................................................................................................6-39
6.7.2.9 Velocity Observer Tuning and Usage...................................................................................................................6-40
6.7.2.10 Auto-tuning the Velocity Loop Gains and the Velocity Observer....................................................................6-43
6.7.2.11 Monitoring the Velocity Tracking ....................................................................................................................6-44
6.7.3 Position Mode ........................................................................................................................................ 6-45
6.7.3.1 Position Mode Reference Sources........................................................................................................................6-45
6.7.3.2 Position Mode Offset Adjust............................................................................................................................... 6-45
6.7.3.3 Programmable Torque Limiting in Position Mode...............................................................................................6-45
6.7.2.4 Programmable Velocity Limiting in Position Mode.............................................................................................6-45
6.7.3.5 Analog Torque Limiting in Position Mode...........................................................................................................6-46
6.7.3.6 Position Limits in Position Mode.........................................................................................................................6-46
6.7.3.7 Velocity Rate Limiting in Position Mode.............................................................................................................6-46
6.7.3.8 Position Mode Functional Block Diagram ...........................................................................................................6-47
6.7.3.9 Position Loop Tuning...........................................................................................................................................6-48
6.7.3.10 Monitoring the Velocity Tracking in Position Mode ........................................................................................6-49
6.7.3.11 Monitoring the Position Tracking in CAN Interpolation Mode ........................................................................6-50
6.8 FAULT DETECTION........................................................................................................................................ 6-51
6.8.1 Faults and User Indication in the T200 .................................................................................................. 6-51
6.8.1.1 Faults and Warnings.............................................................................................................................................6-51
6.8.1.2 Fatal Faults and Non-Fatal Faults.........................................................................................................................6-51
6.8.1.3 Fatal Faults...........................................................................................................................................................6-52
6.8.1.4 Non Fatal Faults ...................................................................................................................................................6-54
6.8.1.5 T200 Warnings.....................................................................................................................................................6-56
6.8.2 Fault History Record.............................................................................................................................. 6-57
6.8.3 Fault indication via digital outputs......................................................................................................... 6-58
6.8.3.1 Mode 1: Fault indication via digital outputs disabled...........................................................................................6-58
6.8.3.2 Mode 2: Fault indication via digital outputs enabled............................................................................................6-59
6.9 SELF PROTECTION......................................................................................................................................... 6-61
6.9.1 Sources of Torque Limits....................................................................................................................... 6-61
6.9.2 Power Amplifier Thermal Protection Mechanism.................................................................................. 6-61
6.9.3 Motor Protection Thermal Protection Mechanism ................................................................................. 6-61
6.9.4 Cabling and Interconnect Protection Scheme......................................................................................... 6-61
6.9.5 Regeneration Resistor Protection Scheme.............................................................................................. 6-62
6.10 ENCODER SIMULATION FUNCTION............................................................................................................... 6-64
6.11 INCREMENTAL ENCODER INPUT................................................................................................................... 6-66
6.12 STEPPER MOTOR INTERFACE ....................................................................................................................... 6-68
6.12.1 Hardware Limit Switches....................................................................................................................... 6-68
6.12.2 Following Error Detection...................................................................................................................... 6-69
6.13 COMMUNICATIONS INTERFACES .................................................................................................................. 6-70
6.13.1 Axis Identification.................................................................................................................................. 6-70
6.13.2 Communications Protocol...................................................................................................................... 6-70
6.13.2.0 Introduction ......................................................................................................................................................6-70
6.13.2.1 Serial Link Signal Specification .......................................................................................................................6-70
6.13.2.2 MESSAGE / REPLY FORMATS ....................................................................................................................6-71
6.13.2.3 MODIFYING T200 PARAMETERS ...............................................................................................................6-72
6.13.2.4 MONITORING T200 PARAMETERS ............................................................................................................6-74
6.13.2.5 BLOCK DATA FORMAT ...............................................................................................................................6-76
6.13.3 Parameter Set Description...................................................................................................................... 6-78
6.14 PARAMETER STORAGE.................................................................................................................................. 6-79
6.14.1 Personality Plug...................................................................................................................................... 6-80
6.14.2 Format of Log Files................................................................................................................................ 6-81
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Moog T200 Specifications

General

Brand	Moog
Model	T200
Category	Servo Drives
Language	English