Moog T200 User Manual

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-8
• An internal home position routine can be called to reference the T200 position to the machine
• A Jog function is provided to aid in machine start-up and positioning.
• Software limits are provided for position, velocity and torque. Hardware limits are also provided for position.
• Extensive T200 status information is transmitted regularly at high speed via CAN. Status information is also
available through digital outputs, if required.
CAN Profile and Interpolation modes are described in detail in additional documents:-
1. CAN Protocol for Interpolation Mode and
2. CAN Protocol for Profile Mode
These documents are available on request from Moog Sales Outlets (See Section 11 for addresses and phone numbers).
6.2.3 Stepper Motor Interface Mode
The T200 provides emulation of a stepper motor interface.
Figure 6.3:- Stepper Interface Mode System Diagram
Note that the ENABLE, PWR_RDY and AUTO_MAN inputs are used consistently for all control modes.
• The T200 accepts pulse rates of up to 1MHz, using an RS422 interface. Pulses are incremented in high speed
counter circuitry, so that reference pulses are never lost.
• The user may scale the number of steps per revolution of the motor shaft. The scaling can be set in steps of 128 to
8192 steps/revolution.
• Quadrature and Step/Direction format input pulses are accepted.
• Hardware limits are available.
• High speed Torque Limiting is available, through the additional analog interface.
• Status information is available through digital outputs, if required.
• The drive behaves as a standard stepper interface in other respects. In particular position homing is the
responsibility of the user.
Velocity Control
Loop
Position Control
Loop
Vector-Controlled
Torque/Current
Loops
Resolver
Position
Transducer
3-Phase
Motor
Resolver to Digital
Position Interface
Digital to Encoder
Transformation
System Motion
Controller
Position Command
Generation
Stepper Interface
Pulse Generator
Stepper
Interface
Function
Forwards
RS232 / RS485
Moog T200 Moog Motor
Actual
Motor
Position
Backwards
Control
Signalling:-
ENABLE
PWR_RDY
AUTO_MAN
TRQ_VEL
CW_LIM
CCW_LIM
BRK_IP
THRM_LIM
DRV_ENBLD
SPD/TRQ_ACHVD
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Moog T200 Specifications

General

Brand	Moog
Model	T200
Category	Servo Drives
Language	English