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Moog MSD Servo Drive Series Device Help

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MOOG
MSD Servo Drive and
MSD Single-Axis Servo
Drive Compact
Device Help
Servo Drive 2 A to 450 A
Single-Axis Systems and Multi-Axis System

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Summary of Contents for Moog MSD Servo Drive Series

  • Page 1 MOOG MSD Servo Drive and MSD Single-Axis Servo Drive Compact Device Help Servo Drive 2 A to 450 A Single-Axis Systems and Multi-Axis System...

  • Page 2: Moog Id No.: Cb40859-001 Date

    Information valid as of: 02/2018 Effective as of firmware version V124.15-13 (MSD Single-Axis Servo Drive Compact)  V124.15-13 (MSD Servo Drive Single-Axis System and Multi-Axis System)  The outline behind this help, as well as the screenshots used, were taken from Moog Version 5.6. RIVE DMINISTRATOR The German version is the original version of this documentation.

  • Page 3: Change History

    MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Change history...
  • Page 4 Change history MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 5: Disclaimer

    Copyright © The entire contents of this documentation, especially the texts, photos and graphics it contains, are protected by copyright. The copyright is owned by Moog unless specifically marked otherwise. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 6: Table Of Contents

    Table of contents MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Table of contents 4.1  Power stage settings 4.1.1  Voltage supply 4.1.2  Switching frequency 4.1.3  Online derating of switching frequency Change history 4.1.4  Parameters 4.2  Power failure bridging Disclaimer 4.2.1  Functional description...
  • Page 7 7.8.4  Test signal generator 6.14  Overflow in multi-turn range 7.9  V/Hz mode 6.15  Zero pulse test 7.10  Process controller 7.10.1  Features 7  Control 7.10.2  Description of control structure MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Table of contents...
  • Page 8 Table of contents MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.10.3  Rate limiter 8.6.1  Configuration 7.10.4  Parameters 8.6.2  Digital inputs 7.10.5  Scope signals 8.6.3  Manual mode window, "Jog mode" tab 8.7  Setpoint table 8  Motion profile 8.8  Analog channel (ISA00 and ISA01)
  • Page 9 11.2  Alarms & warnings (Details) From firmware 124.20-08 additional document CC41778-001 applies 11.3  Warning thresholds 11.4  Error display 17  Index 11.4.1  Servo drive display 11.4.2  Moog DriveAdministrator display 11.5  Error reactions 11.6  Error list 12  Fieldbus 12.1  CANopen / EtherCAT® 12.2  SERCOS 12.3  PROFIBUS / PROFINET...

  • Page 10: General Information

    NOTE 1  General information This Device Help applies to the MSD Servo Drive and  MSD Single-Axis Servo Drive Compact. These instructions are not The Moog product CD contains the entire documentation for the relevant product meant as a replacement for the Operation Manuals for the MSD series. The documentation for each product series includes the Operation Manual Servo Drive or MSD Single-Axis Servo Drive Compact. (hardware description), the Device Help (software description), other User manuals (e.g.

  • Page 11: Applicable Documentation

    Additions and changes to Operation Manuals MSD Servo Drive (Nos. 2 and 3) MSD Servo Drive Specification Functional safety CB38398-001 MSD Servo Drive - Specification second Sin/Cos encoder Connection, configuration CA79903-001 MSD Servo Drive - Specification Sin/Cos encoder Connection, configuration CB13516-002 MSD Servo Drive - Specification TTL encoder simulation / Connection, configuration CB08758-001 TTL master encoder MSD Servo Drive - Specification TTL encoder simulation / Connection, configuration CB32164-001 TTL master encoder MSD Servo Drive - Specification SSI encoder simulation Connection, configuration CB08760-001 Table 1.1: Applicable documents MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 1  General information...
  • Page 12 MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Document Contents ID No.: Format MSD Servo Drive - Specification TTL encoder with Connection, configuration CB32162-001 commutation signals MSD Servo Drive - Specification for safe tech option  (second safe Sin/Cos encoder + second safe SSI encoder  Connection, configuration CC23875-001 + second safe axis monitoring (Sin/Cos)) MSD PLC Manual  Basic Functionality and Libraries CB15237-001 Table 1.1: Applicable documents (continue) NOTE For the latest versions of the aforementioned documents, please contact drives-support@moog.com or visit www.moogsoftwaredownload.com/msd.html ...

  • Page 13: Pictograms

    Operating step performed by either the user or the system. For the pictograms for “safety information and warnings” used in this Device Help, see the Section "Safety information and warnings" on page 15. If you need service assistance, the Moog specialists will be pleased to be of assistance. 1.5  Disclaimer...
  • Page 14 1  General information MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 15: Safety

    Ensure there is no possibility of bodily injury or damage to the machine when testing and commissioning the device. To this end, make sure to observe Section "Safety information and warnings" on page 15 as well. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 16: Responsibility

    2  Safety MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Keeping individual motors running. CAUTION! Damage to the device as a result of incorrect operation! Initiating specific safety processes. Failure to exercise caution or follow proper working Integrating an emergency stop function (emergency stop function: stopping  procedures may result in damage to the device.

  • Page 17: Initial Commissioning

    Safe stop (ISDSH) Contents 3.1  Initial commissioning wizard Enable Power (ENPO) 3.2  Automatic test 3.1.2  Prompt Initial commissioning 3.3  Motor If Moog D is opened without an existing project, a prompt to RIVE DMINISTRATOR 3.4  Encoder undertake initial commissioning appears automatically. 3.5  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 18: Initial Commissioning

    3  Initial commissioning MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 3.1.3  Initial commissioning Fig. 3.1: Prompt to activate wizard If this window does not open automatically, you can also start the wizard manually by double-clicking on the pictogram (see “Chapter overview” in Section "Initial commissioning"...
  • Page 19 Calculation of nominal flux  Data set calculation: Complete "Calculation of control settings" dialog box and start the  calculation Set the I xt monitor  Motor protection Select of temperature sensor  Characteristic setting  Encoder selection  Encoder setting Channel selection  Table 3.1: Instructions for the commissioning wizard MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 3  Initial commissioning...
  • Page 20 3  Initial commissioning MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Action Step Subject area Instruction Rotary motor Linear motor Motor phase test  Determine encoder offset Automatic tests  Determine mass inertia  Open the manual mode window V/Hz (open loop) control mode Motor test in manual mode without   intervention of a higher-level PLC Move motor at low speed  Check direction  Optimize current controller (test signal generator). When there is a motor ...
  • Page 21 Position  Scaling, I/Os, fieldbuses: Set marginal conditions. For more  CANopen  information refer to the user manuals for  PROFIBUS  the individual bus systems. SERCOS  Saving: For more information on data  Saving the settings and creating a commissioning file handling, see the Moog   Help RIVE DMINISTRATOR Table 3.1: Instructions for the commissioning wizard (continued) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 3  Initial commissioning...

  • Page 22: Automatic Test

    3  Initial commissioning MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 3.2  Automatic test To be able to run the automatic tests, you will need to read and confirm the safety prompts. Once you are done doing so, you will be able to run the individual tests.

  • Page 23: Motor

    Fig. 3.5: “Initial Commissioning - Motor data and control settings” dialog box You can click on the "Select motor dataset" button to select a motor from  Moog. If  you  want  to  use  a  different  motor,  you  can  configure  it  by  clicking  on  the  "Manual motor settings" button. For details see Section "Motor configuration data" on page 31.

  • Page 24: Encoder

    3  Initial commissioning MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 3.4  Encoder 3.5  Control Fig. 3.6: “Initial commissioning - Encoder selection” dialog box There is a database available for commissioning the encoder. This database  can be used to select from a large number of standard models. Fig. 3.7: “Initial Commissioning - Control” dialog box If you are unable to find your encoder model or want to configure additional  settings, click on the "Settings..." button. For details see Section "Encoder You can use this screen to select the control mode for the device.

  • Page 25: Power Stage Settings

    The list boxes in the dialog box are used to adapt the power stage to the application conditions. NOTE Any changes to parameters must be saved in the device.  The setting is only applied on the device after a power off/on  cycle. If the power stage parameters are changed, the rated currents,  overload values and brake chopper thresholds may also change. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 4  Power Stage...

  • Page 26: Voltage Supply

    4  Power Stage MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Step0: No reduction of the switching frequency (the operating switching frequency 4.1.1   Voltage supply from P 302 is used). P 307[0] - CON_VoltageSupply is used to configure the power supply. For single- Step1 (1) reduction step for the switching frequency axis applications, only settings (0) to (5) are allowed.
  • Page 27 Table 4.6: “Power stage - Power failure bridging settings” parameters CON_VoltageSupply Power supply mains voltage (5)Safety low voltage 24-60 V CON_VoltageMode Device power supply mode CON_GridVoltageNom V r.m.s Mains voltage CON_ DC link voltage (DC low voltage) DCLinkVoltageNom Table 4.3: “Power stage - DC drives” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 4  Power Stage...

  • Page 28: Power Failure Bridging

    4  Power Stage MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 1=(Ret) Power failure bridging with power return detection. The system will start up 4.2  Power failure bridging again if the power returns within a configurable period of time. In the event of a power failure, the DC link voltage can be supported by using the 2= (NoRet) Power failure bridging with power return detection.

  • Page 29: Modes

    34-1 will be triggered. If P 2943[0] - CON_POWF_RetTime is set to 65535, Only with expanded VFC functionality. there will be no time limit for the drive to return to its original control state after power returns. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 4  Power Stage...

  • Page 30: Parameters

    4  Power Stage MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Mode 5 4.2.4  Parameters Same as mode 1, but with absolute voltage levels and without a validation check. P No. Index Name / Setting Unit Function P 2942[0] - POWF_VOn is used to define the power failure detection limit. P 2942[1]...

  • Page 31: Motor

    Each motor can only be operated if its field model and the control parameters are correctly set. Using the standard motors and encoders from the Moog motors catalog, a system can be commissioned and put into operation very quickly and easily.

  • Page 32: Synchronous Motor

    In the case of third-party motors, basic suitability for operation with servo drives from Moog must first be verified on the basis of the motor data and the data of any installed encoder. The values of the parameters for adaptation of the servo drive must be determined specifically for each motor by calculation or identification.
  • Page 33 MOT_PNom Motor rated power If the moment of inertia of the motor P 461 - Mot_J is not known, a value MOT_TNom Motor rated torque  MOT_J kg m*m Motor inertia roughly corresponding to the motor's moment of inertia must be applied. 1530 SCD_SetMotorControl Determination of default control settings The calculation process can be monitored on the Moog Table 5.1: “Synchronous motor” parameters  via the menu, View, Messages. RIVE DMINISTRATOR Calculation of operating point: Flux P 462 - MOT_FLUXNom  Calculation of: current, speed, and position control parameters  NOTE All existing motor parameters are overwritten. ...

  • Page 34: Synchronous Motor Electronic Data

    5  Motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 5.2.1  Synchronous motor electronic data Index Name Unit Description MOT_FluxNom Motor rated flux linkage MOT_PolePairs Motor number of pole pairs MOT_Rstat Ohm Motor stator resistance MOT_Lsig mH Motor leakage inductance (ASM) / stator  inductance (PSM) MOT_LsigDiff q-axis stator inductance variation (relative to  MOT_Lsig) Lsig_q@I0 Inductance @ CurrentI0 Lsig_q@I1 Inductance @ CurrentI1 Lsig_q@I2 Inductance @ CurrentI2...

  • Page 35: Linear Synchronous Motor

    If the moment of inertia of the motor P 461 - Mot_J is not known, a value 5.3  Linear synchronous motor  roughly corresponding to the motor's moment of inertia must be applied. The calculation process can be monitored in the Moog D RIVE DMINISTRATOR  via the menu, View, Messages. Calculation of operating point: Flux P 462 - MOT_FLUXNom  Calculation of: current, speed and position control parameters  NOTE P 490 - MOT_ISLinRot = LIN(1): The parameter will automatically  set the number of motor pole pairs to P 463 - Mot_PolePairs = 1.

  • Page 36: Linear Synchronous Motor Electronic Data

    5  Motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 5.3.1  Linear synchronous motor electronic data Index Name Unit Description MOT_Name Name of motor parameter set MOT_CNom Motor rated current MOT_CalcLin2Rot Calculate from linear to rotary motor data MOT_MagnetPitch mm Width of one motor pole pair MOT_SpeedMax m/s Motor rated speed MOT_ForceNom Motor rated force MOT_MassMotor Mass of motor slide  MOT_MassSum Total mass, moved by the motor MOT_EncoderPeriod Period of line signals ...

  • Page 37: Asynchronous Motor

    Fig. 5.6: “Asynchronous motor configuration” screen There are two methods of creating a motor data set for the asynchronous motor. Variant 1: Motor calculation  Variant 2: Motor identification (For details, see Section "Motor identification" on  page 43) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 5  Motor...

  • Page 38: Asynchronous Motor Electronic Data

    If the moment of inertia of the motor P 461 - Mot_J is not known, a value MOT_PNom Motor rated power  MOT_TNom Motor rated torque roughly corresponding to the motor's moment of inertia must be applied. MOT_J kg m*m Motor inertia The calculation process can be monitored in the Moog D 1530 SCD_SetMotorControl Determination of default control settings RIVE DMINISTRATOR  via the menu, View, Messages. Table 5.5: “Asynchronous motor configuration” parameters Calculation of the working point: Flux P 462 - MOT_FluxNom, P 340 - CON_ ...

  • Page 39: Motor Protection

    P No. Index P Name / Setting Unit Function Table 5.6: “Electrical data AS” parameters MON_MotorTempMax Maximum motor temperature (switch-off value) TempMax X5 degC Maximum sensor temperature X5 TempMax X6 degC Maximum sensor temperature X6 Table 5.7: “Temperature monitoring” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 5  Motor...
  • Page 40 5  Motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 P No. Index P Name / Setting Unit Function P No. Index P Name / Setting Unit Function MON_MotorPTC Selection of sensor type PT100 (5) PTC100 in line with DIN EN 60751 Type NTC220 (6) NTC Sensor 220 kOhm  Off (0) No motor temperature sensor NTC1000 (7)

  • Page 41: Synchronous Motor I²T Monitoring

    I t characteristic because the factory setting mostly does not exactly map the present motor. Fig. 5.9: “I²T monitoring” screen for a synchronous motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 5  Motor...

  • Page 42: Asynchronous Motor I²T Monitoring

    Calculation of capacity utilization via exponential function with thermal time constant of motor: Setting of I t type: P 735[0] = “FREQ(0)=Output frequency-dependent": Moog - specific i(f)  evaluation P 735[0] = “THERM(1)=Thermal time constant-dependent": Evaluation based  on thermal time constant i(Tth) Thermal time constant P 733[7] - Ttherm in [s] ...

  • Page 43: Motor Identification

     quantities (e.g. current, torque, speed,...) of the motor. The defaults relate to 100 % of the rated quantities. Calculation of capacity utilization via exponential function with thermal time constant of motor: Setting of I t type: P 735[0] = “FREQ(0)=Output frequency-dependent": Moog - specific i(f)  Fig. 5.11: “Motor identification" dialog box for a rotary synchronous motor evaluation P 735[0] = “THERM(1)=Thermal time constant-dependent": Evaluation based  on thermal time constant i(Tth) Thermal time constant P 733[7] - Ttherm in [s]...
  • Page 44 5  Motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Fig. 5.12: “Motor identification" dialog box for a linear synchronous motor Fig. 5.13: “Motor identification" dialog box for an asynchronous motor Index Name Unit Description 1531 SCD_Action_Sel Self-commissioning action selection...

  • Page 45: Synchronous Motor Identification (Rotary And Linear)

    (normally with q current operation) at all speeds. stage current permits it at standstill. If this is not the case, the measurement is made using a correspondingly smaller current. P 340[0] - CON_FM_Imag Magnetizing current  Fig. 5.14: Single-phase equivalent circuit diagram for a sine wave filter MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 5  Motor...
  • Page 46 5  Motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Current The inverter output current is equal to the sum of the motor current ( i ) and capacitor current ( i ). Accordingly, ( i ) needs to be taken into account when calculating current setpoints.

  • Page 47: Configuration

    MOT_Filt_Sel = (MCHOKE)1 NOTE Has no effect on the current setpoint calculation. Instead, it just deactivates the Always discuss the use of sine wave filters with your Moog project  support representative. current controller decoupling network. If necessary, the calculated motor terminal voltage components (before the voltage drop caused by the motor choke) can be 5.7.2  Configuration...

  • Page 48: Parameters

    5  Motor MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 2πf s NOTE Filter capacitance P 2901[1] - C_Filt is specified as the  capacitance value for the capacitors when using a delta Sd,ref configuration! In order to calculate the capacitance per phase as per the circuit diagram above, the device will internally multiply Sd,pre Sd,mot the value by 3 (delta-wye transform). If the capacitors are connected in a wye configuration, or if the capacitance of the single-phase equivalent circuit is known, the corresponding capacitance value must first be divided by 3 and then entered into the parameter. Sq,mot 5.7.4  Scope signals -L s -C f Sq,pre Index Name...

  • Page 49: Encoder

    6.2  Encoder selection 6.3  Encoder offset 6.4  Connections and pin assignations 6.5  Channel 1: Interface X7 6.6  Channel 2: Interface X6 6.7  Channel 3: Interface X8 (optional) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 50: Introduction

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 or one EnDat encoder and one SSI encoder 6.1  Cable  6.1.2  Encoder gearing The MSD Servo Drive groups individual encoders (supported encoder interfaces) into what are referred to as “encoder channels”. Within each encoder channel, a The encoder gearing is an integral part of the encoder evaluation system.

  • Page 51: Encoder Selection

    The MSD Servo Drive’s control is subdivided into three levels... MCON (Commutation and Torque control)  SCON (Speed control) and  PCON (Position control).  This screen is used to select the encoder channel for each of the control levels. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 52 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 To assign the encoder channel for... Encoder offset Commutation and torque control, use P 520[0] - ENC_MCon For the encoder for commutation and torque control, P 349[0] - CON_FM_  MConOffset can be used to set an offset. For details, see Section Speed control, use P 521[0] - ENC_SCon...

  • Page 53: Encoder Offset

    MSD Servo Drive and MSD Single-Axis Servo Drive Compact are different from each other. It is not necessary to determine the commutation offset for Moog motors, as the If your servo drive comes with a technology option with an  encoders are aligned. In the case of third-party motors that are not aligned, the encoder function (X8 connector), see the corresponding...

  • Page 54: Connector For Resolver (X6)

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6.4.1  Connector for resolver (X6) Abb. Function Resolver S3 differential input CAUTION! Damage to the device as a result of incorrect motor winding (reference to PIN X6-2) insulation! Resolver S1 differential input...
  • Page 55 2) After connecting pin 7 to pin 12, a voltage of 11.8 V will appear at X7, pin 3! Table 6.3: Pin assignment X7 (MSD Servo Drive) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 56: Channel 1: Interface X7

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6.5  Channel 1: Interface X7 Sin/Cos Absolute Absolute Sin/Cos and absolute encoder, Abb. encoder, encoder, EnDat HIPERFACE® SSI/EnDat (digital) REFCOS +COS +5 VDC ±5 %, IOUT maximum = 250 mA  7 to 12 V (typ.  (150 mA for hardware versions 0–1),  11 V) maximum  monitoring via sensor cable  100 mA  Data + Data + Data + Data - Data -...

  • Page 57: Main Parameters For Encoder Channel Ch1

    Clicking on this button will open a menu that can be used to select encoders. The GPOC is a special Moog online process for improving the quality of Sin/Cos data sets for Moog encoders will already be available there by default.

  • Page 58: Endat (Cyclical) X7

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Code and Mode are used to set SSI modes. If Mode=1, wire break monitoring encoder’s multi-turn value range from 0 to max will be mapped to 0 to max; the  (if any) will be disabled, for example. If Mode = 0, it will be enabled instead second half of the measuring range will be initialized as positive; in this case, the (default).
  • Page 59 ENDAT_BWZ_4 lowbyte vn4:  position value formation ENDAT_Status EnDat additional status output 1. Special EnDat encoder with diagnostics for evaluation ENDAT_Z1_Sel EnDat additional information 1 type selection In this case, the valuation numbers from the encoder are read cyclically via Table 6.7: Channel 1 encoder configuration (X7) - EnDat parameters additional information. Only the valuation numbers that the encoder supports MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 60: Hall Sensor X7

    HALL(5) - Digital Hall signals Ch1: CH1_PeriodLen is not used in this case. HALL_TTL(7) - Digital Hall signals The TTL interface accepts various TTL signal types, which can be selected using P 558[0] - ENC_CH1_TTL_SignalType: NOTE (0)AF_B - A/B tracks (forward counting, X4 encoding) - AB  The operation and configuration of Hall effect sensors is reserved  for special applications. Consult with Moog if needed. (1)AR_B - A/B tracks (reverse counting, X4 encoding) - AB_inv ...
  • Page 61 144. 6.5.4.1.2  TTL incremental encoder with SSI absolute value  interface See Section "Sin/Cos incremental encoder with absolute value interface" on page 62 and in special Section "SSI absolute value interface" on page 64. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 62 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 one revolution from Lines. In this case, the motor pole pair number must be set to 1. 6.5.4.2  Sin/Cos encoder Moreover, P 553[0] - ENC_CH1_PeriodLen is not used in this case.
  • Page 63 The MTBase parameter is used to set a position in the multi-turn encoder’s length of a digital increment in the position from the absolute value interface, travel path that defines the point of discontinuity (overflow/underflow) for the in nanometres. Both parameters are used for linear EnDat encoders and absolute value initialization (that is, the “multi-turn basis”). Assuming a linear HIPERFACE encoders (instead of MultiT and SingleT bits (rotary)). In bipolar encoder measuring range, all position values that fall below MTBase contrast, linear SSI encoders are treated as rotary SSI encoders (in this case, will be shifted “up” (the whole MT range will be added to them once). This it is impossible to determine that the system is a linear encoder system based method makes it possible to place the point of discontinuity at any point on the encoder head). Likewise, linear Sin/Cos encoders without an absolute within the encoder’s entire measuring range. By default, MTBase will be set value interface are treated as “rotary” encoders (if run as commutation to the lowest possible value for the parameter, i.e. reliably outside of the encoders, the number of lines (Lines) and the encoder gearing (Num, encoder’s value range: In this case, the full bipolar range will remain Denom) must be used to establish the relationship to the linear motor’s unaffected, as values will never fall below this MTBase threshold (see Section "Channel 1: Interface X7" on page 56). magn. pole pair subdivision). Only in the case of Sin/Cos encoders with P 548[0] - ENC_CH1_MTEnable = MultiTurn as SingleTurn  The MTEnable parameter makes it possible to use multi-turn encoders as MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 64 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 reference marks will the system determine, based on PeriodLen > 0, that the  DIG(1) - Digital: encoder system is linear and not rotary. Only the digital component will be used for the absolute value initialization. P 555[0] - ENC_CH1_Info = Encoder Information  This parameter is available to the user so that they can enter a text of their SEK_SEL37(2) - Automatic: choice (maximum 31 characters). This text should be used to describe the Digital if ST bits > (LineBits + 8); otherwise standard (criterion applies encoder on channel Ch1 with HIPERFACE SEKL-37 encoders) P 616[0] - ENC_CH1_CycleCount = Sampling cycle in: n x 125 µs SSI_180(3) - Same as Standard, except:  In the case of SSI, the quadrant alignment of the digital value relative (microseconds) to the analog Sin/Cos tracks is not the same as with EnDat, but is The CycleCount parameter can be used to slow down the timing for the instead offset by 180 degrees relative to EnDat, i.e. in the “natural Q cyclical SSI encoder evaluation. By default, CycleCount = 1, i.e. the default...
  • Page 65 (error message if applicable). 6.5.4.2.6  EnDat absolute value interface NOTE If P 540[0] - ENC_CH1_Abs = ENDAT(2), the absolute EnDat encoder position will Pay attention to the encoder initialization entries in the Moog  be read once during the initialization phase; after this, the cyclical encoder position  message pane. In the event of an error, also RIVE DMINISTRATOR check the entries in P 552 - ENC_CH1_AbsEncStatus.

  • Page 66: Ssi (Cyclical) X7

    Additional_2 Interface additional information 2 Additional_3 Interface additional information 3 manufacturers are free to support the interface as they like. The pseudo-standard Additional_4 Interface additional information 4 described below has however been established for motor feedback interfaces. Moog Additional_5 Interface additional information 5 supports this version first and foremost. Bytes_of_last_protocol highbyte: to encoder, lowbyte: from encoder Bytes_of_last_protocol The following table lists the parameters for cyclical SSI operation on encoder 17...
  • Page 67 Number of MultiTurn bits (absolute encoder) ENC_CH1_SingleT Number of SingleTurn bits (absolute encoder) ENC_CH1_Code Code selection (SSI absolute encoder) ENC_CH1_Mode Mode selection (SSI absolute encoder) ENC_CH1_MTBase Minimum MultiTurn position (SSI absolute  encoder) ENC_CH1_MTEnable Channel 1: Multi-turn as single-turn ENC_CH1_Position Position encoder channel 1 ENC_CH1_CycleCount Channel 1: Position encoder sampling cycle (n x  125 µsec) Table 6.12: Encoder configuration channel 1 (X7) - SSI parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 68: Encoder Gearing

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 The Sel, Lines, MultiT and SingleT parameters are self-explanatory. Value Name Other parameters, such as MTBase and MTEnable, are described elsewhere (see ENC_CH1_Mode 0000h Data_EncObs Default: with wire break Section "Sin/Cos incremental encoder with absolute value interface" on page 62).
  • Page 69 This value will be proportional to the position progress of the motor’s commutation (adjusted for the pole pair number). In field mode, the encoder gearing can be used “freely” for scaling purposes. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 70: Channel 2: Interface X6

    Transformation ratio of approx. 0.5  GPOC is a special Moog real-time process that is used to improve the quality of Sin/ Cos signals before they are used to calculate a position. If Sel = RES(1) or Sel = SINCOS(2), this process may come in handy. For details see Section "Signal correction GPOC (Gain Phase Offset Correction)"...

  • Page 71: Compensation For Long Resolver Cables

    This function is not available for the MSD Single-Axis Servo Drive  P 563[0] - ENC_CH2_EncObsMin = Encoder monitoring minimum, sqrt (a² Compact.  +b²) Do not use cable lengths > 50 m without first consulting with  This parameter is used to scale the resolver and Sin/Cos wire break Moog. monitoring and represents the “downwards threshold” for an error message. The default setting is 0.2, corresponding to approx. 20 % of the track signals’ amplitude (approx. 80 % corresponds to approx. 1 Vss). If EncObsMin is set 6.6.2  Signal correction GPOC (Gain Phase Offset  Correction) to 0, the resolver and Sin/Cos wire break monitoring will be disabled (see Section "Channel 1: Interface X7" on page 56 as well). The resolver and Sin/Cos incremental encoder demonstrate systematic errors that are reflected in the measured position and in the speed calculated from this (gain and phase errors, offset components of the tracking signal).
  • Page 72 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Procedure Step Action Open the manual mode window and set speed-controlled mode. Motor operated at constant speed Resolver: 1000 rpm  Sin/Cos incremental encoder: 1 to 5 rpm.  Set P 549[0] - ENC_CH1_Corr to "ADAPT(2) = Auto correction" Wait about 1–3 minutes. During this time, the compensation algorithms  will reach their steady state. Speed ripple should decrease after about 1 minute. This can be monitored with the actual speed value in the scope or with P 550 - ENC_CH1_CorrVal.

  • Page 73: X6 Encoder Gearing

    See Section "Encoder gearing" on page 87 The encoder gearing for encoder channels Ch1, Ch2 and Ch3 is described there. NOTE In the case of encoder channel Ch2, it is assumed that the  resolver will always be used as a commutation encoder on the motor shaft. Because of this, the numerator adjustment range is limited to a value of (+1) or (-1), while the denominator is set at a fixed value of (+1), for the Ch2 encoder gearing ratio. This means that the only option available is to invert the encoder signal (direction reversal). Encoder channel Ch4 (virtual encoders) does not feature any  encoder gearing. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 74: Channel 3: Interface X8 (Optional)

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6.7  Channel 3: Interface X8 (optional) Interface X8 can optionally be equipped with a technology option (X8 option) at the factory (this option cannot be retrofitted). There are a variety of optional modules available:...
  • Page 75 The following table shows how the X8 options that can be used for encoder evaluation can be identified and selected. “No.” column  As per the table above. “Hardware ID” column  The texts in this column can be viewed with P 53[0] - DV_HwOptionX12ID in Moog D  by going to ►Drive description ►Hardware version when the RIVE DMINISTRATOR corresponding technology option is equipped. “Selection” column ...
  • Page 76 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 *) SINCOS(1) is set via the P 507[0] - ENC_CH3_Sel main interface. The auxiliary interface, P 570[0] - ENC_CH3_Abs, can optionally be used to set the one-time reading for the absolute position during initialization.
  • Page 77 Clicking on this button will open a menu that can be used to select encoders. The “Technology option” in the “Hardware” section. data sets for Moog encoders will already be available there by default. Encoder name You can use this field to enter your own information for describing the encoder (maximum 31 characters) (P 580[0] - ENC_CH3_Info).

  • Page 78: Main Parameters For Encoder Channel Ch3

    P 577[0] - ENC_CH3_EncObsMin Signal correction (GPOC)  If you set EncObsMin to 0, Sin/Cos wire break monitoring will be disabled. GPOC is a special Moog real-time process that is used to improve the quality of The default value is 0.2 (20 %) and stands for a calculated amplitude value Sin/Cos signals before they are used to calculate a position. If “SINCOS(1)” is (calculated using the two Sin/Cos signals) of x = sqrt(a² + b²). If the Sin/Cos signals are equal to approx. 1 Vss in comparison, approx. 0.8 will be selected as the “main interface,”...
  • Page 79 ENC_CH3_Extended reservedENC CH3: Extended SignalType ENC_CH3_Info Encoder information, channel 3: Encoder  Table 6.21: Encoder configuration channel 3 (X8) parameters (continue) information ENC_CH3_AbsEncStatus Error and status codes (absolute encoder) ENC_CH3_PeriodLen Length of signal period (Sin/Cos linear encoder) Table 6.21: Encoder configuration channel 3 (X8) parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 80: X8 Absolute Value Interfaces

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 NOTE 6.7.2  X8 absolute value interfaces Please note the limitations that apply when running EnDat and  The following absolute value interfaces will be available on encoder channel Ch3 SSI  encoders  (see Section  "Limiting  for  EnDat  and  SSI"  on depending on the X8 option being used.

  • Page 81: Sin/Cos / Ttl X8

    See Section "Sin/Cos incremental encoder with absolute value interface" on page 82 and in special Section "SSI absolute value interface" on page 84. (0)AF_B - A/B tracks (forward counting, X4 encoding) - AB  (1)AR_B - A/B tracks (reverse counting, X4 encoding) - AB_inv  MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 82 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 a. There are no different signal types for the Sin/Cos signal (always 1 Vss for Index Name Unit Description cosine and sine). ENC_CH3_Sel = 3 Encoder selection set to TTL(3) ENC_CH3_Num Encoder gearing: Numerator b. The zero pulse is the analog zero pulse typical of Sin/Cos encoders (see the ENC_CH3_Denom Encoder gearing: Denominator “Connection for high-resolution encoders” section in the Operation Manual ENC_CH3_Abs Selection of absolute value interface MSD Servo Drive Single-Axis System, for example). ENC_CH3_NpTest ENC CH1, TEST-MODE: Index pulse signal(s) to Scope ENC_CH3_Lines Number of lines (Sin/Cos / TTL encoders) 6.7.5.2.2  Linear Sin/Cos incremental encoder 2842 ENC_CH3_TTL_SignalType Channel 3: TTL signal selection ENC_CH3_Period Maximum period of interpolation (ttl encoder)
  • Page 83 The Code and Mode parameters are described in Section "SSI (cyclical) X7" on page  P 583[0] - ENC_CH3_DigitalResolution - linear absolute encoder are the length of an analog Sin/Cos signal period, in nanometres, and the P 584[0] - ENC_CH3_MTBase = Minimum MultiTurn position length of a digital increment in the position from the absolute value interface,  The MTBase parameter is used to set a position in the multi-turn encoder’s in nanometres. Both parameters are used for linear EnDat encoders (instead travel path that defines the point of discontinuity (overflow/underflow) for the of MultiT and SingleT bits (rotary)). In contrast, linear SSI encoders are MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 84 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 treated as rotary SSI encoders (in this case, it is impossible to determine that  value initialization: the system is a linear encoder system based on the encoder head). Likewise,  DIG_ANA(0)- Standard: linear Sin/Cos encoders without an absolute value interface are treated as  Absolute value initialization using a mix of the digital and analog “rotary” encoders (if run as commutation encoders, the number of tracks, or components (this is the default mode) lines (Lines) and the encoder gearing (Num,Denom) must be used to establish  the relationship to the linear motor’s magn. pole pair subdivision). Only in the  DIG(1) - Digital: Only the digital component will be used for the absolute value case of Sin/Cos encoders with distance-coded reference marks will the system  initialization. determine, based on PeriodLen > 0, that the encoder system is linear and not  rotary. SEK_SEL37(2) - Automatic: P 580[0] - ENC_CH3_Info = Encoder Information Digital if ST bits > (LineBits + 8); otherwise standard  This parameter is available to the user so that they can enter a text of their SSI_180(3) - Same as Standard, except: choice (maximum 31 characters). This text should be used to describe the...

  • Page 85: Ssi (Cyclical) X8

    It is not standardized, meaning that manufacturers are free to support the interface as they like. The pseudo-standard described below has however been established for motor feedback interfaces. Moog supports this version first and foremost.
  • Page 86 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 SSI wire break monitoring (bit monitoring during monoflop time) The Sel, Lines, MultiT and SingleT parameters are self-explanatory. Other parameters, such as MTBase and MTEnable, are described elsewhere If monitoring is enabled, the drive, as the SSI clock master, will read data for one (see Section "Channel 3: Interface X8 (optional)"...

  • Page 87: Encoder Gearing

    Ch1. These parameters can also be used for checking purposes during Encoder channels Ch1 to Ch3 each feature their own encoder gearing, while commissioning. encoder channel Ch4 (virtual encoders) does not feature any encoder gearing. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 88: Channel 4: Virtual Encoder

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 NOTE 6.8  Channel 4: Virtual encoder This value at the encoder channel output...  Already contains the encoder gearing ratio factor (N/D) Will be passed this way through the system (incl. the gearing gear ratio already) I.e. is “the value” from the encoder evaluation system The encoder gearing ratio has a multiplicative effect on the position progress, i.e. either “expanding” or “compressing”. A distinction can be drawn between an encoder’s motor mode and field mode: Motor mode: The encoder is the motor commutation encoder...

  • Page 89: Sensorless Control Synchronous Motor

    Initializing the Kalman  Q[3,3] Sensorless control: Q matrix (epsilon) filter Q[4,4] Sensorless control: Q matrix (T load) Table 6.28: ENC_CH4_Ctrl (P783) control word ENC_CH4_Kalman_ Sensorless control: Test signal generator SigInj Signal SC test signal: Signal calculation selection Frequency SC test signal: Sinusoidal signal frequency Table 6.29: “Sensorless synchronous motor control” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 90 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6.8.1.1  Auto commutation P No. Index Name Unit Description d-Amplitude sinus SC test signal: d current amplitude of sinusoidal  When using sensorless control, auto commutation is required in order to ensure signal q-Amplitude sinus SC test signal: q current amplitude of sinusoidal  that the motor will not align itself towards a direction in an uncontrolled manner.
  • Page 91 Please note, however, that this current will also increase motor losses, meaning it should only be used in exceptional cases. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...
  • Page 92 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 I [A] 6.8.1.3  Expanded speed control circuit There is the option of setting up an expanded speed control circuit when using 792[9] sensorless control. The reason for this is that the estimated speed from the Kalman filter cannot be calculated with steady-state accuracy, as parameter inaccuracies are inherent to the model.
  • Page 93 Be requested from the motor manufacturer OR  setpoint and the n_eps actual value is fed through the integral term. This ensures Be measured at Moog with an “advanced motor identification” routine OR  that the speed control circuit will be accurate in its steady state in regard to the Be determined as an approximation for most motors with the motor ...
  • Page 94 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 combination with a test signal when the motor is stopped. In addition, the total Step Action moment of inertia resulting from the motor and the connected load must be set as Configure noise covariance matrices Q and R. This should be done ...

  • Page 95: Sensorless Asynchronous Motor Control

    P 339 - CON_SCON_Kalman can be used for tuning purposes. The encoder for commutation will implicitly be SFC as a result of the new  motor type. If there is a real encoder, speed or position information can  If necessary, adjust the noise covariance matrices and the filter time  be used for testing purposes. constants for the expanded speed control circuit (changes will take effect  Run the motor with speed control, using ramps. in real-time). Table 6.31: Configuring the asynchronous motor for sensorless control Table 6.30: Configuring the Kalman filter for sensorless control (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 96: Redundant Encoder

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6.9  Redundant encoder P No. Index Name Unit Description 1959 CON_SFC_Para SFC Parameter It is possible to set the position difference between the positioning encoder and a TF_is isd/isq filter time constant K_ov Anti-overturning limitation factor.

  • Page 97: Axis Correction

    No encoder selected 1 (= 1st Encoder) 1. encoder selected Thermal expansion of machine components.  2 (= 2nd Encoder) 2. encoder selected ENC_ACOR_PosStart Definition of correction range: The range is  defined by parameters P 0591 ENC_ACOR_ PosStart Start position and  P 0592 ENC_ACOR_PosEnd end position.  The start position is user-specified; the end  ENC_ACOR_PosEnd position is determined on the device side from  the maximum value of correction table  interpolation points used and the interpolation  point pitch Table 6.34: Axis correction parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 98 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Step Action P No. Index Name / Setting Unit Description Use P 530 - ENC_Encoder1Sel to select the channel for SERCOS: 1.  ENC_ACOR_PosDelta Interpolation point pitch: The positions at which  the correction interpolation points are plotted are  Encoder defined via parameters P 0593 ENC_ACOR_ PosDelta Interpolation point pitch and P 0591 Use P 531 - ENC_Encoder2Sel to select the channel for SERCOS: 2. ...
  • Page 99 P 0593 Interpolation Legend: point distance Interpolation point conter clockwise correction Interpolation point clockwise correction Incorrected Positionvalue (conter-clockwise rotation) Incorrected Positionvalue (clockwise rotation) Fig. 6.12: Corrected position value MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 100: Oversampling

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 NOTE 6.11  Oversampling Parameterization is carried out in the selected user unit for the  Encoder signal oversampling optimizes the accuracy of resolver and Sin/Cos position as integer values. It is advisable to use the same number signals. This function can only be used, if necessary, for low-track Sin/Cos encoders of correction interpolation points for the positive and negative...

  • Page 101: Multi-Turn Encoder As A Single-Turn Encoder

    + 18 coded 1000 lines measure B = lines marks = Σ 36 corresponding to 20° 1001 lines Table 6.37: Example of a rotary system on encoder channel Ch1 MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...
  • Page 102 6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Fig. 6.14: Schematic diagram of a linear scale ① Pitch periods (TP): (P 542[0] - ENC_CH1_Lines) ② Reference marks Increment-coded reference measure A (small reference mark interval) (P 610[0] ③ Fig. 6.13: Schematic view of circular graduations with increment-coded reference...

  • Page 103: Overflow In Multi-Turn Range

    For more information, see Section "Main parameters for encoder channel Ch1" on page 57 and Section "Sin/Cos incremental encoder with absolute value interface" on page 62. Fig. 6.15: Multi-turn range shifting MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6  Encoder...

  • Page 104: Zero Pulse Test

    6  Encoder MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 6.15  Zero pulse test To enable evaluation for the zero pulse test, P 541/P 571 = ON (1) is set. On the oscilloscope it can then be depicted with the measurement variables CH1/3_Np. To make the zero pulse clearly visible, the measurement variable remains high until the next zero pulse appears.

  • Page 105: Control

    P 0522 SinCos 2-E2 Resolver correction table 3-E3 SinCos2 7.8  Synchronous motor auto commutation Feedback spindle err or Fig. 7.1: Control structure 7.9  V/Hzmode 7.10  Process controller MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 106: Setting

    3. Setting for position controller / Pre-control 7.1.1  Setting When using a standard Moog motor data set, the control parameters are preset for the specific motor model (external mass inertia = motor inertia). If using third-party motors, a manual setting must be made for the drive by way of the motor identification or by calculation in order to define the appropriate control parameters for the motor model.

  • Page 107: Basic Settings

    Fig. 7.2: “Motor control settings” screen NOTE P 300[0] - CON_CfgCon specifies the control mode with which  the drive is to be run. This parameter takes effect online. Fig. 7.3: “Motor control basic settings” dialog box Uncontrolled online switching can cause an extreme jerk, a very high speed or an overcurrent, which may cause damage to the system. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 108: Mass Inertia Detection

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.2.1.1  Adjustment of the mass inertia The speed controller gain is scaled separately using the percentage value KP Scale. The damping of the control is affected by the speed filter. If the mass inertia value is not known, the wizard can be used to determine it Useful settings are: (see Section "Automatic inertia detection"...
  • Page 109 Your system/motor may be damaged if put into operation in an uncontrolled or inappropriate manner. Improper conduct can cause damage to your system / machine. Before the “Start” step, make absolutely sure that a valid  setpoint has been entered, as the configured setpoint will be immediately transmitted to the motor after the motor control function starts, which may result in the motor accelerating unexpectedly. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 110: Torque Controller

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.3  Torque controller 7.3.1  Current controller optimization The faster the actual value approaches the setpoint, the more dynamically the The torque controller is executed as a PI controller. The gain (P-component) and the controller is set.

  • Page 111: Creating The Transfer Function

    To determine the transfer function, the noise amplitude (motor rated current) and the sampling time (default: 0.125 ms) must be specified. Click the "Start Test Signal" button. Fig. 7.8: Current controller transfer function MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 112: Current Actual Value Filter

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.3.4  Detent torque compensation Green curve = Amount ① Y-axis left = Absolute value of isd/isdref Blue curve = Phase response ② Y-axis right = Phase response Isd / isdref Legend to Current controller transfer function 7.3.3  Current actual value filter A first-order digital filter (PT1) can be configured in order to smooth the measured “isd”...
  • Page 113 P 385[0] - CON_ TCoggTeachCon=CALC1(3) or with P 385[0] - CON_TCoggTeach- Con = CALC2 (8).It ‘calculates’ the corresponding compensation table (which can be saved) from MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...
  • Page 114 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 table. recurring, infinite 7.3.4.1  “Detent torque compensation” parameters Table: index = (inpos inc / 2^32 inc) * tabsize, with tabsize = 250 or 4000 - Input reference ‘variable' via delta (**): absolute, 'linear' continuous position: the...
  • Page 115 - F2: Without offset and delta, with tuning, without fader Calculation: (385)CON_TCoggTeachCon=(3)CALC1 Compensation: (382)CON_TCoggComp=(2)APSPOS  big CompTab, access via (440) and (441) =Teach epsm mechanical angle (shaft) (6)TeachEpsM Table 7.2: Settings for teaching, calculating and compensation MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 116 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 (385) (385) CON_TCoggTeachCon CON_TCoggTeachCon Singleturn position from encoder for commution =Teach posact from redundant encoder (10)TeachPosEncRed Actual position from so called redundant encoder - F1: Big teach table (4000)
  • Page 117 The following table shows the procedure for detent torque compensation. With the control still operating, the teaching is then stopped by calling the  calculation function once: P 385[0] - CON_TCoggTeachCon = (3)CALC1 or (8)CALC2.Afterwards,  parameter P 385[0] jumps back to READY(0). Table 7.3: Overall procedure for detent torque compensation MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 118 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 No. Action - The teaching and calculation are thus finished. - The position source used has been stored internally. - The compensation table is available for use immediately. Stop control Start the compensation: P 382[0] - CON_TCoggComp > 0 After this, the q-current feed forward control becomes active when the control  is restarted. Save device data. - The position source used by the teaching is also saved here. It will later be  used for the compensation once again in exactly the same manner. Table 7.4: Overall procedure for detent torque compensation Fig. 7.12: After enabling detent torque compensation (with) (please keep the Y axis scaling in mind!) 7.3.4.3.1  Scope recording: speed ‘before' and ‘after'...
  • Page 119 Check P 440[0] - CON_TAB_TabIndex and P 446[0] - CON_TAB_OutVal With the control still operating, the teaching is then stopped by calling the  calculation function once: P 385[0] - CON_TCoggTeachCon = (3)CALC1. This imports all values into the compensation table P 380[] - CON_ TCoggAddTab (small table with 250 elements). Stop control Start the compensation: P 382[0] - CON_TCoggComp = (1)EPSRS After this, the q-current feed forward control becomes active when the control  is restarted. Save device data. - The position source used by the teaching is also saved here. It will later be  used for the compensation once again in exactly the same manner. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 120 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Action Action Open manual mode window. P 385[0] - CON_TCoggTeachCon = (3)CALC1. This imports all values into the internal compensation table (big table with  Approach start position 4000 elements). Speed control mode control setting (set high rigidity, for smooth running) Save device data. Set the teaching direction if necessary: P 445[0] - CON_TAB_TeachDir - The position source used by the teaching is also saved here. It will later  Default: POS(1)= teaching routine in positive direction. be used for the compensation once again in exactly the same manner. Set the offset and delta if necessary using: Use the scope to monitor IsqRef_Comp P 442[0] - CON_TAB_PosStart, default 0 P 443[0] - CON_TAB_PosDelta, default 1000 inc/TabElement...
  • Page 121 - The position source used by the teaching is also saved here. It will later  be used for the compensation once again in exactly the same manner. 7.3.4.7  Compensation as a function of the electrical angle  Use the scope to monitor IsqRef_Comp (EPSRS), big table Teaching routine and compensation  big CompTab (4000) - Incremental, ‘rotary' recurring position - Without offset and delta, with tuning, with fader MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 122: Advanced Torque Control

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Adaptation of torque control / Saturation characteristic (see Section  7.3.4.8  FadeOut function  "Adaptation of torque control" on page 122). At higher speeds it usually makes sense to linearly fade the Q-current feed forward Observer system (see Section "Observer" on page 124)  control of the detent torque compensation using the FadeOut function: Overmodulation: (see Section "Overmodulation" on page 124)
  • Page 123 ① P 472[0] - [3] Lsig_q@Ix interpolation points 0 to 3. Scaling of rated current in [%];  ② P 472[4] - [7] MOT_CurrentIx interpolation points 4 to 7. Legend for Diagram: “Scaling of q-inductance L in [%]” NOTE Between the interpolation points the scaling factor is interpolated  in linear mode. The current scaling of the inductance is displayed in the scope variable 74_Is_ActVal . MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 124 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description NOTE MOT_Lsig Motor leakage inductance (ASM) / stator  Please contact Moog before configuring the observer.  inductance (PSM) MOT_LsigDiff q-axis stator inductance variation (relative to  MOT_Lsig) Lsig_q@I0 Inductance @ CurrentI0 Index Name Unit Description Lsig_q@I1 Inductance @ CurrentI1 CON_CCON_ObsMode Select current observer mode Lsig_q@I2 Inductance @ CurrentI2 CON_CCON_ObsPara Current observer parameters Lsig_q@I3 Inductance @ CurrentI3...

  • Page 125: Torque Control With Defined Bandwidth

    Start conditions to determine the torque  CON_CCON_VLimit Voltage limit for first current controller controller settings CON_CCON_Mode Select current control / limitation mode FAULT (-1) Selected function stopped with fault Table 7.8: “Advanced torque control - Overmodulation” parameters READY (0) Ready to start function / last call successfully  ended Table 7.9: “Torque control with defined bandwidth” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 126: Speed Controller

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.4  Speed controller P no. Index Name / Setting Unit Function ENC_OFFSET (1) Start encoder offset determination (power stage  will be switched on!) MOT_ID (2) Start electrical motor identification (power stage  will be switched on!) IMP (3) Measure impedance LH_TUNE (4) Tune Lm characteristics ASM_OP (5) Set operation point for asynchronous motor BANDWIDTH (6) Tune current controller by bandwidth MOTPHASE (7) Check motor/encoder wiring COM_ALL (8) Motorid., enc.-offset and inertia detection, ...
  • Page 127 ScaleMaxSpeedFil Speed scaling filter time constant If the system's moment of inertia is defined manually, it must be reduced  2695 ScaleMaxTorqueFil Torque scaling filter time constant to the motor. CON_SCON_Kp Nm/rpm Speed control gain CON_SCON_Tn Speed control integration time constant CON_SCON_KpScale Speed control gain scaling factor CON_SCALC_TF Speed calculation filter time constant CON_SCALC_TF Filter time const. speed control CON_SCALC_TF Filter time const. field model (hydraulic) CON_SCALC_TF Filter time const. speed from position control Table 7.10: “Speed controller” parameter MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 128: Advanced Speed Control

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.4.1  Advanced speed control Index Name Unit Description CON_IP_RefTF Speed reference filter time constant (SCON  mode) CON_SConTS Speed control sampling time 2939 CON_SCON_TorqueTF Actual torque filter time Digital filter Digital filter / speed controller settings CON_SCON_FilterFreq Filter frequencies of digital filter CON_SCON_FilterFreq 1st center/cutoff CON_SCON_FilterFreq 1st width CON_SCON_FilterFreq 2nd center/cutoff CON_SCON_FilterFreq 2nd width CON_SCON_FilterAssi Digital filter design assistant CON_SCON_FilterPara Coefficients of digital filter...
  • Page 129 266 and Section "Stop ramps" on page 187). Due to the lack of dynamism at low speeds, the sensorless control is very "imprecise". To enable the drive nevertheless to Please contact Moog before configuring the observer.  be run down smoothly to speed 0, as from the speed threshold parameterized in P 355[0] - LowSpeedLimit the controller switches to a...
  • Page 130 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.4.1.4  Parameters Index Name Unit Description CON_SCALC_ObsPara CON_SCALC_ObsPara Index Name Unit Description CON_SCALC_ObsPara CON_SCON_Kd Advanced control structure gains CON_SCALC_ObsPara CON_SCON_K_d D control / acceleration feedback CON_SCALC_ObsPara CON_SCON_K_dvlm Speed difference feedback CON_SCALC_ObsPara CON_SCON_K_dmlm Torsional torque feedback CON_SCALC_ObsPara CON_SCON_K_mload Load torque compensation CON_SCALC_ObsPara CON_SCON_TFd Kalman: Setting...

  • Page 131: Digital Filter

    Width: Enter the bandwidth of the limit frequency; the width has no effect when using PTx filters Create scope plot with notch filtering Table 7.13: Instructions for FFT signal analysis Fig. 7.24: “Speed controller - Digital filter” dialog box MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 132: Analysis Of Speed Control

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description FFT without filtering FFT with filtering CON_SCON_FilterFreq Filter frequencies of digital filter CON_SCON_FilterFreq 1st center/cutoff CON_SCON_FilterFreq 1st width CON_SCON_FilterFreq 2nd center/cutoff CON_SCON_FilterFreq 2nd width CON_SCON_FilterAssi Digital filter design assistant CON_SCON_FilterPara Coefficients of digital filter FilterPara b0 b0*x(k) FilterPara b1 b1*x(k-1) FilterPara b2...
  • Page 133 (default 0.125 ms) must be specified. Click the "Start Test Signal" response is executed. button. The oscilloscope is set automatically. The faster the actual value approaches the setpoint, the more  dynamically the controller is set. The overshoot of the actual value should  not be more than 5-10 % of the setpoint (general figure) during the  settling process. Table 7.16: Instructions for optimization of the speed controller MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 134 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description CON_SCON_AddTRef Nm (N) Additive torque reference CON_SCON_AddSRef 1/min Additive speed reference value (without ramp) Table 7.17: “Speed controller - Analysis of Speed control” parameter Fig. 7.27: “Noise amplitude, sampling time” dialog box Fig.

  • Page 135: Position Controller Settings

    In order to improve the dynamism of the position controller, the following dialog box is provided to optimize the speed and acceleration pre-control. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 136: Friction Torque Compensation (Friction)

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 NOTE Index Name Unit Description CON_IP_SFFTF Speed feedforward filter time constant (PCON  Torque feed-forward control will be disabled if linear interpolation  mode) is used. CON_IP_EpsDly Delay pos. reference by integer no. of cycles  CON_PConTS The overall moment of inertia in P 1516[0] - SCD_Jsum must not  CON_IP_SFFScale Scaling of speed feedforward be changed to optimize the pre-control, because this would also CON_IP_TFFScale Scaling of torque feedforward have an effect on other controller settings! TFFScale_PCON Scaling of torque feedforward (PCON mode) In multi-axis applications requiring precise three-dimensional axis...
  • Page 137 (Speed, Torque), the function value CON_SCON_TFricSpeed Friction torque compensation: Speed limit 2 remains constant at higher speeds. CON_SCON_TFricSpeed Friction torque compensation: Speed limit 3 CON_SCON_TFricSpeed CON_SCON_TConst %  Friction torque compensation: Constant  (independent of direction) Table 7.20: “Position controller - Feed-forward control” parameters (friction torque compensation extract) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 138: Synchronous Motor Field-Weakening

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.6  Synchronous motor field-weakening Up to rated speed the asynchronous motor runs with a full magnetic field and so is able to develop a high torque. Above the rated speed, the magnetic field is reduced because the maximum output voltage of the Servo controller has been reached.

  • Page 139: Variant 2: Modified Characteristic

    The voltage setpoint that needs to be achieved is specified Inom using P 347[0] - CON_FM_VRef. CON_FM_SpeedTab Speed values for magnetizing current scaling CON_FM_SpeedTab CON_FM_SpeedTab CON_FM_SpeedTab CON_FM_SpeedTab CON_FM_SpeedTab Table 7.22: “Field-weakening” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 140: Field-Weakening Of Asynchronous Motor Voltage Controller

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description 7.6.4  Field-weakening of asynchronous motor voltage  CON_FM_SpeedTab controller CON_FM_SpeedTab CON_FM_SpeedTab The voltage controller is superimposed onto the selected characteristic curve. When CON_FM_ImagTab Magnetizing current scaling vs. speed CON_FM_ImagTab the voltage controller is used, a part of the available voltage is used as a control CON_FM_ImagTab reserve.

  • Page 141: Synchronous Motor Field-Weakening

    This must be taken into consideration when configuring the motor. CNom * Lsig >  Factor  * FluxNom A value greater than 0.2 is recommended for Factor . MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 142: Variant 1 (Table)

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Variant 1: Variant 2: 7.7.2  Variant 2 (Calc) characteristic isd=f(n) When there are very fast speed or load changes in the field weakening range, P 435 isdref [1/n] ω e calculated map...

  • Page 143: Synchronous Motor Voltage Controller Field Weakening

    Table 7.26: Parameters for selecting field weakening speed in the field weakening range, the servo drive may be at the voltage limit. In MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 144: Synchronous Motor Auto Commutation

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 this case, a check should first be made as to whether the preset maximum value 7.8  Synchronous motor auto commutation P 340[0] - CON_FM_Imag has already been reached and can be increased. If the...
  • Page 145 Off (0) Function disabled IENCC (1) Current injection LHMES (2) Saturation of inductance evaluated IECSC (3) Not yet implemented IECON (4) Current injection, minimized movement HALLS (5) Not yet implemented HALLSDIGITAL (6) Digital Hall sensor HALLSDIGITAL2 (7) Digital Hall sensor (alternate process) Table 7.27: “Auto commutation” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 146: Iencc(1) Method

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 In this method the rotor aligns in the direction of the injected current and thus in a 7.8.1  IENCC(1) method defined position. The relatively large movement (up to half a rotor revolution) must be taken into consideration.

  • Page 147: Lhmes(2) Method

    In order to be able to use the complex LHMES auto commutation  method to its full extent, you will need to consult with Moog. Precondition The rotor must be securely braked so that it will not be able to move when the rated current is applied. The motor’s stator must have an iron-core. Fig. 7.35: “Auto commutation LHMES(2)” dialog box With this method, saturation effects in stator inductance are evaluated.

  • Page 148: Iecon(4) Method

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.8.3  IECON(4) method Index Description Unit Value Test signal period  (Measurement  frequency) Test signal amplitude  (Current I0) Test signal direct  component (Current I1) Table 7.28: LHMES configuration example NOTE It is advisable to connect speed tracking error monitoring with the ...

  • Page 149: Test Signal Generator

    With the aid of a shift register fed back, a binary output sequence with an amplitude that can be set in parameter P 1509 - SCD_TSIG_ RBSAmp and a "random" alternating frequency is generated. Fig. 7.38: TSIG output: Signal curve of TG MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 150 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Parameter / Function Info Setting The parameter is reset to the  SCD_TSIG_ Test signal generator  1500 value 0 on completion of the  control word stop procedure. Test signal generator  OFF (0) deactivated Stop(1) Stop test signal Start(2) Start test signal STOP-Cycle TG stops at end of current  square cycle TG stops next time  Stop-Zero reference value passes  through zero SCD_TSIG_ Test signal generator ...
  • Page 151 Period of square signal  Time SCD_TSIG_  PRBS signal generator,  1508 PRBSTime sampling time Time (t1) Time (t2) Table 7.29: Parameters of test signal generator for square and sine signal (continue) SCD_TSIG_  PRBS signal generator,  1509 PRBSAmp amplitude MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 152 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Parameter / Function Info Setting SCD_TSIG_ 1510 Signal shape: Sine/delta SignalType SINUS(0) Sine wave generator TRIANGLE Triangle wave generator SCD_TSIG_ 1511 Break time BreakTime Break (ms) before signal  cycle Break (ms) between  positive and negative  signal cycle segment SCD_TSIG_ Symmetry value for delta  1512 Fig. 7.40: Example of a PRBS signal...

  • Page 153: V/Hz Mode

    Fig. 7.40: “V/f mode” dialog box Index Name Unit Description CON_VFC_VBoost V/f characteristic: Boost voltage CON_VFC_FNom V/f characteristic: Rated frequency CON_VFC_VNom V/f characteristic: Nominal voltage Table 7.30: “V/f mode” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 154: Process Controller

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7.10  Process controller 7.10.2  Description of control structure The process controller function enables a measured process variable to be controlled via a PI controller to a reference (setpoint) value. 7.10.1  Features Process controller calculation in speed controller cycle  Process controller as PI controller with Kp adaptation ...
  • Page 155 Special hardware required Reserved Special hardware required Any analog input (function selector for  ANA_ALL analog inputs set to a value of -13) P2981 Mappable parameter P-2981 P2982 Mappable parameter P-2982 Fig. 7.42: Process controller state machine P2983 Mappable parameter P-2983 P2984 Mappable parameter P-2984 Table 7.34: Selector for reference value source MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...
  • Page 156 7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Once the setpoint source is selected, the process controller setpoint can be set with Setting Name Description P 2666[0] - CON_PRC_REFVAL. This setpoint can then be scaled further with P 2667[0] - CON_PRC_REFSCALE in order, for example, to incorporate decimal...

  • Page 157: Moog

    By P 2680[0] - CON_PRC_ Rate Limiter the limitation of the control variable steepness per millisecond can be parameterized. By way of index (0) the limitation is active in standard process MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 158: Parameters

    7  Control MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 controller operation. By way of index (1) reduction of the I-component is activated 7.10.4  Parameters (see table). With P 2672[0] - CON_PRC_OUTSEL = 3 the process controller delivers an additive position reference value.

  • Page 159: Scope Signals

    Control difference of the process controller 2666 CON_PRC_RefVal Scaled process controller reference 2673 CON_PRC_Raw_ActVal Actual value of the selected actual value source 2674 CON_RPC_Actval Momentary actual value of the process  controller; after filtering and scaling 2676 CCON_PRC_Outval Process controller control variable Table 7.38: Parameters relevant for visualizing the process control circuit in the scope MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 7  Control...

  • Page 160: Motion Profile

    8.5  Homing 8.6  Jog mode 8.7  Setpoint table 8.8  Analog channel (ISA00 and ISA01) 8.9  State machine 8.10  Touch probe 8.11  Synchronized motion 8.12  Virtual master MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 161: Settings

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Standardization profile 8.1  Settings Standard/CiA 402  ① When it comes to the drive settings for motion profiles, the settings that need to be SERCOS  configured relate to the following: control, units, and commands.

  • Page 162: Scaling / Units

    Index Name Unit Description MPRO_FG_Type Factor group: Type selection; DS402(0), Sercos (1), USER(2) Table 8.1: Parameter "" MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 163: Standard/Cia

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.2.1  Standard/CiA 402 Fig. 8.3: “Standardization profile - Standard/CiA 402 - Units” dialog box Fig. 8.4: “Standardization profile - Standard/CiA 402 - Direction of rotation” dialog box NOTE Referred to the motor, the positive direction is clockwise as seen when looking at the The scaling is entered using exponent syntax.
  • Page 164 A total of 32 bits are available. In the default setting, 20 of the bits are used for the single-turn position. Fig. 8.5: “Standardization profile - Standard/CiA 402 - Feed/Gearing/Resolution/Process format” dialog box MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 165 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Process format Index Name Unit Description 2252 MPRO_402_ 608FH DS402 position encoder resolution PosEncRes 2252 MPRO_402_ incr Encoder increments PosEncRes 2252 MPRO_402_ Motor revolution PosEncRes 2253 MPRO_402_VelEncRes 6090H DS402 velocity encoder resolution 2253 MPRO_402_VelEncRes incr/s Encoder increments/s...
  • Page 166 0°. The same applies to the negative direction. On reaching 0° the actual position is set to 360°. Fig. 8.9: “‘Clockwise rotation’ process option” screen MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...
  • Page 167 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.2.1.3  “Path - optimized” process option Not path-optimized Optimized path An absolute target position is always approached by the shortest path. Relative movements cannot be carried out with the “Path – optimized” mode.

  • Page 168: Sercos

    The weighting method is defined by the parameters for ScaleExpPos 10085 COM_SER_ Torque polarity parameter position, speed, force / torque and acceleration weighting. Table 8.5: “Standardization / units - SERCOS” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 169 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.2.2.1  Position unit Index Name Unit Description PolarityTorque 10086 COM_SER_ Torque/force data scaling type ScaleTypTorque 10093 COM_SER_ Torque/force data scaling factor ScaleFactorTorque 10094 COM_SER_ Torque/force data scaling exponent ScaleExpTorque 10103 COM_SER_ModuloVal mDegree Modulo value 10121 COM_SER_ Input revolutions of load gear GearRatioNum...
  • Page 170 (translational) and rotary weighting within this context. shaft). Linear weighting Unit Weighting factor Preferential weighting (LSB) Table 8.6: Weighting for linear motion (default setting) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 171 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Rotary weighting 8.2.2.2  Speed Unit Weighting factor Preferential weighting (LSB) Degrees 3.600.000 0.0001 µm Table 8.7: Weighting for rotary motion (default setting) Fig. 8.14: “Standardization profile - SERCOS- Speed (1)” dialog box...
  • Page 172 Preferential weighting positive speed reference indicates clockwise rotation (looking at the motor shaft). Unit Weighting factor (LSB) m/min 0.001 m/min Table 8.8: Weighting for linear motion (default setting) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 173 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Rotary weighting 8.2.2.3  Unit of torque/power Preferential weighting Unit Weighting factor (LSB) Degrees 3.600.000 0.001 m/min Table 8.9: Weighting for rotary motion (default setting) Fig. 8.17: “Standardization profile - SERCOS-Torque/power(1)” dialog box...
  • Page 174 Torque polarity The polarity of the torque can be inverted according to the application. A positive torque setpoint indicates clockwise rotation (when looking at the motor shaft). MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 175 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Rotary weighting 8.2.2.4  Unit of acceleration Preferential Parameter weighting Weighting weighting Unit factor (LSB) (LSB) LSB = Unit *  0.01 Nm Exponent Table 8.11: Weighting for rotary motion (default setting) Fig. 8.20: “Standardization profile - SERCOS- Acceleration(1)” dialog box...
  • Page 176 Fig. 8.22: Acceleration data weighting between linear and rotary weighting here. Linear weighting Unit Weighting factor Factory setting (LSB) Table 8.12: Weighting for linear motion (default setting) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 177: User Defined

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Rotary weighting P 0270 MPRO_FG_PosNorm Position [Pos Unit] P 0271 MPRO_FG_Num Pos [incr] Unit Weighting factor Factory setting (LSB) P 0272 MPRO_FG_Den rad/s 3.600.000 P 0273 MPRO_FG_Reverse Table 8.13: Weighting for rotary motion (default setting)
  • Page 178 Speed factor 1[rpm] SpeedFac Positioning in [°degrees]  1/60 = 0.01667  Given MPRO_FG_AccFac Acceleration factor [rpm/s] Position unit P 0284 MPRO_FG_PosUnit = [µm] Table 8.15: Parameters for user-defined scaling (rotary system)  Speed unit P 0287 MPRO_FG_SpeedUnit = [m/s]  MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 179 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Default Default Name Function Name Function rotary system rotary system MPRO_FG_ Unit for position  False =  mdegree MPRO_FG_Reverse Reverse direction PosUnit value clockwise MPRO_FG_ Unit for speed  1.875 rps  rev/min SpeetUnit value corresponds to 1 ...

  • Page 180: Basic Settings

    Table 8.17: “Motion profile - Basic settings” parameters See Section "Interpolation" on page 185. 8.3.1  PG mode with speed control NOTE Select reference source  The reference filters are initialized only after the control has been  Configure motion profile: Scaling, ramps, and smoothing time.  re-enabled or by a device restart. When reference processing with the profile generator, the fine interpolator is  always in use. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 181: Pg Mode With Position Control

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Referencevalue P 0165 -OFF (0) Profilegenerator -ANA0 (1) PG-Mode Normalization Referencevalue -ANA0 (2) Referencevalue Userunit speedcontrol -Tab (3) Increments Referencevalue -Ramps -DS402 -leer (4) -Smoothing -SERCOS...

  • Page 182: Ip Mode With Speed Control

    Linear interpolation is always applied in this process. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 183: Ip Mode With Position Control

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Reference Referencevalue Source P 0165 P 0165 -OFF (0) -OFF (0) IP-Method Interpolation -ANA0 (1) -ANA0 (1) Normilazation NoIP (0) = IP-Mode Referencevalue Normalization Referencevalue -ANA0 (2)
  • Page 184 The acceleration and braking ramp = 0, so the jerk is maximum (red curve). The acceleration and deceleration ramps with a preset smoothing time (smoothing time = 2000 ms, red curve) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 185: Interpolation

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 By using a suitable interpolation method, the function’s values between known points can be estimated. This is termed an interpolation problem. There are a number of solutions to the problem; the user must select the appropriate functions.
  • Page 186 In the linear interpolation method the  acceleration between two points is generally  zero. Pre-control of the acceleration values is  thus not possible and speed jumps are always  caused. Fig. 8.35: Interpolation polynomial, 7th degree SplineExtFF(2) Interpolation with external feed-forward control: Must be explicitly requested from Moog Table 8.18: Interpolation types MSD Servo Drive Fig. 8.36: Cubic spline interpolation MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 187: Stop Ramps

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.4  Stop ramps P No. Index Name / Setting Unit Description Splinell(3) Cubic spline interpolation: Must be explicitly requested from Moog NonIPSpline(4) Cubic spline approximation: In this method, the nodes are approximated by  means of B-splines. The trajectory normally  does not run exactly through the points  specified by the control. The deviation is  normally negligibly small. In the interpolation  points the transitions are continuous with regard  to acceleration, which becomes apparent by  minor "noise". In start and target position the  interpolation points always match the  trajectory.  Application: Minimizing noise, smoother  motion, restrictions on contouring Cos(5) Cosine interpolation:...
  • Page 188 Index Name Unit Description 2218 MPRO_402_ 605AH DS402 quickstop option code QuickStopOC 2219 MPRO_402_ 605BH DS402 reaction to control shutdown ShutdownOC 2220 MPRO_402_ 605CH DS402 disable operation option code DisableOpOC Table 8.19: “Motion profile - Stop ramps” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 189: Homing

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5  Homing Homing serves to establish an absolute position reference (referred to the entire axis), and must usually be performed once after power-up. Homing is necessary when absolute positioning operations are carried out without absolute encoders (e.g.
  • Page 190 Homing: Maximum travel (homing to block:  HOMING_MaxDistance Block detection) MPRO_REF_ Homing method Controlword HOMING_Ctrl MPRO_REF_ mDegree Homing: Backup position HOMING_BackupPos MPRO_REF_ Scaling of motor torque limit during homing HOMING_TMaxScale 2234 MPRO_402_ mDegree 607CH DS402 home offset HomeOffset 2261 MPRO_402_ 6098H DS402 homing method HomingMethod Table 8.20: “Homing” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 191: Method (-13): Absolute Encoder

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5.2  Method (-13): Absolute encoder 8.5.3  Method (-12): Set absolute position (absolute  measuring system) Method (-13) works in a similar way to method (-5) (see Section "Method (-5): Absolute encoder" on page 194). However, in this method the home offset is used...

  • Page 192: Method (-10) And Method (-11): Moving To Block With Zero Pulse

    An offset can be programmed in the dialog box. Fig. 8.42: Approach block, direction of travel left, with zero pulse Fig. 8.41: Moving to block, rightward direction of travel with zero pulse MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 193: Methods (-8) And (-9): Move To Block

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5.5  Methods (-8) and (-9): Move to block 8.5.5.2  Method (-9): Leftward direction of travel Tracking error monitoring is switched off during the homing procedure. With P 0169 MPRO_REF_HOMING_MaxDistance the tracking error is specified in The maximum permissible torque can be reduced specifically during the homing the positioning range in which the block is detected.

  • Page 194: Methods (-7) To

    8.5.6.5  Method (-1): Actual position = 0 The actual position corresponds to the zero point; it is set to 0, meaning the drive performs an actual position reset. The zero offset will be added. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 195: Methods (3) And (4): Positive Reference Mark And Zero Pulse

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5.8  Methods (3) and (4): Positive reference mark and  zero pulse 8.5.8.1  Method 3: Start movement in direction of positive (right)  hardware limit switch Start movement in direction of positive (right) hardware limit switch; at this  Fig. 8.46: Positive limit switch and zero pulse time the reference mark is inactive. The direction of movement reverses on an active edge from the reference  mark. The first zero pulse after a falling edge from the reference mark is the zero  point/homing point. Fig. 8.47: Start condition for positive limit switch 8.5.8.2  Method 4: Start movement in direction of negative (left) ...

  • Page 196: Homing Method 5 And 6: Negative Reference Mark And Zero Pulse

    The first zero pulse after a falling edge from the reference mark is the zero  point/homing point. The direction of movement reverses on an active edge from the reference  mark. Start movement in direction of the negative limit switch if the reference mark  is inactive. Fig. 8.49: Positive (right) hardware limit switch and zero pulse 8.5.9.2  Method (5): Start movement in direction of the negative  (left) hardware limit switch with zero pulse Start movement in direction of negative (left) hardware limit switch.  The direction of movement reverses on an inactive edge from the reference  mark. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 197: Methods (7) To

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 The first zero pulse after a rising edge from the reference mark is the zero 8.5.10  Methods (7) to (10):  point/homing point. 8.5.10.1  Method (7): Reference mark, zero pulse and positive  limit switch The start movement is in the direction of the positive, right hardware limit  switch. Both it and the reference mark are inactive. The direction of movement reverses after an active reference mark. The zero  point corresponds to the first zero pulse after the falling edge. The start movement is in the direction of the negative, left hardware limit  Fig. 8.50: Negative (left) hardware limit switch and zero pulse switch. The homing point is set at the first zero pulse after a falling edge from the reference mark.
  • Page 198 Fig. 8.54: Zero pulse after falling edge corresponds to the zero point. inactive. The zero point corresponds to the first zero pulse after a rising edge. The zero point is the first zero pulse if the reference mark is active.  Fig. 8.53: The direction of movement will change when the reference mark becomes inactive. 8.5.10.4  Method (10): Once the reference mark has been passed, the first zero pulse after the  falling edge is the zero point. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 199: Methods (11) To (14): Reference Mark, Zero Pulse And Negative Limit Switch

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5.11  Methods (11) to (14): Reference mark, zero pulse  and negative limit switch 8.5.11.1  Method (11) Reversal of direction of movement after active reference mark. The zero point  corresponds to the first zero pulse after the falling edge. Zero point at the first zero pulse after falling edge from the reference mark. Fig. 8.56: Zero point corresponds to first zero pulse.  Movement must have gone beyond the reference mark, then the first zero  pulse corresponds to the zero point. 8.5.11.3  Method (13) Reversal of direction of movement when the reference mark has been  passed. The zero point corresponds to the first zero pulse after a rising edge. Reversal of direction of movement when the reference mark becomes ...

  • Page 200: Methods (15) And

    The zero point corresponds to the first zero pulse after the reference mark’s 8.5.12  Methods (15) and (16)  falling edge. These two homing methods are not defined. Reversal of direction of movement after active reference mark. The zero point  corresponds to the first zero pulse after the falling edge. Fig. 8.58: Zero point corresponds to first zero pulse after... MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 201: Methods (17) To (30): Reference Mark

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5.13  Methods (17) to (30): Reference mark Method 1 corresponds to  method 17 8.5.13.1  Method (17) to (30) Method 20 corresponds to  method 4  Homing methods 17 to 30 are equivalent to methods 1 to 14. The determination of the homing point is  Method 8 corresponds to  The determination of the homing point is independent of the zero pulse. It only independent of the zero pulse. It only depends on ...

  • Page 202: Methods (31) And

    The zero pulse corresponds to the first zero pulse to the left. Fig. 8.60: Homing with zero pulse 8.5.15.2  Method (34): Rightward travel direction The zero pulse corresponds to the first zero pulse to the right. Fig. 8.61: Homing with zero pulse MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 203: Jog Mode

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.5.16  Method (35) 8.6  Jog mode The actual position corresponds to the reference point. Fig. 8.63: “Jog speeds” dialog box Jog mode (setup mode) is used to record (teach-in) positions, for disengaging in the event of a fault, or for maintenance procedures.

  • Page 204: Digital Inputs

    The drive is moved using the "Jog -" and "Jog +" buttons. Activate "Jog left" input and then additionally input two Fast jog direction right:  Activate "Jog right" input and then additionally input two 8.6.2  Digital inputs Fig. 8.64: "Digital inputs" screen Fig. 8.65: "Jog mode" window MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 205: Setpoint Table

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Control mode 8.7  Setpoint table NOTE With the reference table up to 16 reference values can be defined. In the process, “Control  mode”  does  not  refer  to  the  motor  control  here  (see the drive moves to its targets conforming to the respective motion blocks.
  • Page 206 (for information on the setting, see Section "Basic settings" on page 107), the control mode “Mode” and “Speed” lines will be added to the “Setpoint table” screen. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 207 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 P 203 - MPRO_TAB_PMode is used to define the type of positioning used: Deceleration With ... ABS(0) = Absolute  Absolute positioning P 194 - MPRO_TAB_TDec (for torque control) or  REL(1) = Relative (after target reached)  P 197 - MPRO_TAB_SDec (for speed control) or Relative positioning after target position reached.
  • Page 208 MPRO_TAB_TDec Nm/ms MPRO_TAB_TAcc Torque control table: Acceleration MPRO_TAB_TRef Torque control table: Reference MPRO_TAB_TAcc Nm/ms MPRO_TAB_TRef MPRO_TAB_TAcc Nm/ms MPRO_TAB_TRef MPRO_TAB_TAcc Nm/ms MPRO_TAB_TRef MPRO_TAB_TAcc Nm/ms MPRO_TAB_TRef MPRO_TAB_TAcc Nm/ms Table 8.24: “Setpoint table settings” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 209 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description MPRO_TAB_TRef MPRO_TAB_SDec rev/min/s MPRO_TAB_TRef MPRO_TAB_SDec rev/min/s MPRO_TAB_TRef MPRO_TAB_SDec rev/min/s MPRO_TAB_TRef MPRO_TAB_SDec rev/min/s MPRO_TAB_TRef MPRO_TAB_SDec rev/min/s MPRO_TAB_TRef MPRO_TAB_SDec rev/min/s...
  • Page 210 MPRO_TAB_PPos mDegree MPRO_TAB_PDec rev/min/s MPRO_TAB_PPos mDegree MPRO_TAB_PDec rev/min/s MPRO_TAB_PPos mDegree MPRO_TAB_PSpd Position control table: Speed MPRO_TAB_PPos mDegree MPRO_TAB_PSpd rev/min MPRO_TAB_PMode Position control table: Mode Table 8.24: “Setpoint table settings” parameters (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 211 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description MPRO_TAB_PMode MPRO_TAB_Mode TAB mode MPRO_TAB_PMode MPRO_Tab_MaxIdx TAB: Maximum index in AUTO mode MPRO_TAB_PMode MPRO_TAB_ActIdx TAB: Current index MPRO_TAB_PMode MPRO_TAB_OutputNo OSD TAB: actual table index and target  reached  MPRO_TAB_PMode MPRO_TAB_OutputNo MPRO_TAB_PMode MPRO_TAB_OutputNo MPRO_TAB_PMode...

  • Page 212: Analog Channel (Isa00 And Isa01)

    Depending on the control mode being used (see Section "Basic settings" on page 107), the value will be stored in parameter index [0] (torque control), [1] (speed control) or [2] (position control). MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 213: Special Characteristics Of Position Control Mode

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Acceleration ramp 8.8.2  Wire break monitoring This parameter serves as an acceleration ramp for torque control (P 176[0] - MPRO_ P 399 - CON_ANAWireBrk_Th can be used to configure wire break monitoring for ANA0_TRamp for ISA00, P 186[0] - MPRO_ANA1_TRamp for ISA01) or speed...
  • Page 214 MPRO_ANA0_PScale mDegree ANA0: Position setpoint scaling factor MPRO_ANA1_ rev/min ANA1: threshold for speed reference MPRO_ANA0_Offset ANA0: offsets SThreshold MPRO_ANA0_TOffset ANA0:offsets for torque reference MPRO_ANA1_ mDegree ANA1: threshold for position reference Table 8.26: “Analog channel ISA00” parameters Table 8.27: “Analog channel ISA01” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 215: State Machine

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.9  State machine Index Name Unit Description PThreshold The system state of the drive is basically managed by the central state machine MPRO_ANA1_TRamp ANA1: Torque mode acceleration [0] and  deceleration[1] according to CiA 402. However, the transitions and states which the state machine...
  • Page 216 Fig. 8.70: State machine diagram based on CANopen communications The system states indicated on the display may differ from the  states in the table depending on the drive profile setting. ⓪ to ① State number 1 to 17 State transition (No. 17: DC link voltage cut off) Legend to “State machine diagram based on CANopen communications” figure MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 217: Touch Probe

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.10  Touch probe Index Name / Setting Unit Description MPRO_TP_Position mDegree Using the touch probe inputs, touch probe functions can be performed. To do this, MPRO_TP_Position mDegree MPRO_TP_Position mDegree P 106[0] - MPRO_INPUT_FS_ISD05 and P 107[0] - MPRO_INPUT_FS_ISD06...

  • Page 218: Synchronized Motion

    Fig. 8.71: “Synchronized motion” screen description of the MSD PLC. There are various modes available in the “synchronization mode” drop-down menu (P 242[0] - MPRO_ECAM_SyncModMode): Off(0) = Synchronized motion off  ECAM_iPlc(1) = Electr. Cam plate via MSD PLC  EGEAR_iPlc(2) = Electr. Gearing via MSD PLC  ECAM_PARA(3) = Electr. Cam plate via parameter  EGEAR_PARA(4) = Electr. Gearing via parameter  MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 219: Electronic Camming

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 The other parameters are configured in separate screens that can be accessed with 8.11.1  Electronic camming the corresponding buttons. 8.11.1.1  Table selection Master configuration (see Section "Master configuration" on page 222)  Electr. Gearing (see Section "Electronic gearing" on page 225)  Index Name Unit Description Electr. Cam (see Section "Electronic camming" on page 219)
  • Page 220 Table 8.34: “Electronic camming - CAM setpoint segments” parameters 1335 0 to  MPRO_ECAM_ ECAM: Segment status word SegData_StatusWord 1336 0 to  MPRO_ECAM_ ECAM: Segment control word SegData_ControlWord Table 8.33: “Electronic camming - Table segments” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 221: Control Word For Synchronized Motion

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.11.2  Control word for synchronized motion 8.11.3  Status word for synchronized motion Function MSD PLC function Bit number Description Start segment (8-bit value) Actual segment (8-bit value) 8-15 Reserved Actual ECAM / EGEAR state machine state (4-bit value) 0: ECAM / EGEAR asynchronous Absolute (true) / relative (false) master   relationship 1: ECAM / EGEAR synchronous  Absolute (true) / relative (false) master  2: ECAM / EGEAR synchronizing  (CAM) relationship at cam in 8-11 3: ECAM / EGEAR desynchronizing ...

  • Page 222: Master Configuration

    NO AXIS (0) = No axis  VIRTUAL MASTER (1) = Virtual master  If you select this function, you will be able to configure additional settings by clicking on the enabled “Options...” button (see Section "Virtual master" on page 222). PARA (2) = Master parameter interface  If you select this function because a higher-level controller is being used as MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...
  • Page 223 8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Anti-reverse mode Slave only starts moving along with it again as soon as the master  reaches the zero position. P 1320[0] - MPRO_ECAM_CamMaster_RevLockMode is used to define the reverse Example: lock mode, which can be used either with or without path compensation. The dashed Assume the master has moved two motor revolutions in the direction for ...
  • Page 224 ECAM / EGEAR: Parameter interface master  ParaMaster_ActPos position MPRO_ECAM_ rpm ECAM / EGEAR: Parameter interface master  ParaMaster_ActSpeed speed MPRO_ECAM_ rpm  ECAM / EGEAR: Parameter interface master  ParaMaster_ActAcc / s acceleration MPRO_ECAM_ ECAM / EGEAR: Parameter interface master  ParaMaster_Amplitude amplitude Table 8.37: “Synchronized motion - Master configuration” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 225: Electronic Gearing

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Gear ratio 8.11.5  Electronic gearing The gear ratio is specified as a fraction. This ensures that the position references can be translated to the motor shaft with no rounding error.

  • Page 226: Engagement

    P 257[0] - MPRO_ECAM_Egear_GearInDist is used to define the engagement distance. The actual engagement occurs within this range (between the dashed lines). FADE (2) = Engagement fade-out  Engagement with fade-out function (5th degree polynomial): Not angular synchronous; jerk-limited. The position is ignored. There always remains a variation between reference and actual position. P 257[0] (see below) is MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 227: Disengagement

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 can be used to define the deceleration. Index Name Unit Description MPRO_ECAM_Egear_ EGEAR: GearIn - Mode to gear in GearInMode MPRO_ECAM_Egear_ rev/min/s EGEAR: GearIn - Acceleration of gear mode  GearInAcc ramp MPRO_ECAM_Egear_ incr EGEAR: GearIn - Distance to gear in GearInDist MPRO_ECAM_Egear_ rpm/s^2 EGEAR: GearIn - Jerk of gear mode ramp GearInJerk Table 8.39: “Synchronized motion - Electronic gearing - Engagement” parameters FADE (2) = Engagement fade-out ...

  • Page 228: Virtual Master

    Table 8.40: “Synchronized motion - Electronic gearing - Disengagement” para- meters Fig. 8.74: "Virtual master" screen Click "Start" to start the engagement and click "Stop" and "Halt" correspondingly to stop it. NOTE The virtual master must be activated by clicking the "Start" button,  and remains active for operation of a synchronized movement. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8  Motion profile...

  • Page 229: Common Master

    8  Motion profile MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 8.13  Common master Index Name Unit Description MPRO_ECAM_VM_ Virtual master reference speed Speed Index Name Unit Description MPRO_ECAM_VM_ incr/rev Virtual master amplitude 1407 MPRO_CMST_ Common master: Control word Amplitude ControlWord MPRO_ECAM_VM_ incr Virtual master actual position 1408 MPRO_CMST_ Common master: Status word...

  • Page 230: Cam Switch

    8.14  CAM switch 8.15  Data handling The function is not available as standard. It must be specially requested. Contact Index Name Unit Description Moog. 2920 MPRO_DATA_Ctrl Extended data control word 2921 MPRO_DATA_Stat Extended data status word 2922 MPRO_DATA_Act Actual signal value 2923 MPRO_DATA_Upper Reference upper limit value 2924 MPRO_DATA_Lower Reference lower limit value 2925 MPRO_DATA_Ref Reference value 2926 MPRO_DATA_Signal Signal selection...

  • Page 231: Input/Output Settings

    9.4  Analog inputs Before using the digital inputs, they are normally associated with a special  device functionality for digital inputs with the use of function selectors. 9.5  Analog outputs (option for MSD Servo Drive only) Likewise, before using the analog inputs, these are normally associated with  9.6  Motor brake output a special device functionality for analog inputs. The corresponding function selectors also make it possible to select a special digital functionality instead. Two of the digital standard inputs on the device are what are referred to as  “touch probe inputs”. These inputs are faster than the other inputs. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...

  • Page 232: Digital Inputs

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Outputs 9.2  Digital Inputs While function selectors can be used to assign digital outputs a wide range  of special device functionalities for digital outputs, the special device functionality for analog outputs is considerably more limited and does not overlap with the digital outputs’ functionality. Moreover, analog outputs are only available when using X8 option modules! The motor brake output is a digital output with special hardware for driving a  motor brake, which is normally found inside the motor casing. Fig. 9.2: “Function selectors of the digital inputs” dialog box...

  • Page 233: Digital Standard Inputs

    If it is, this button can be used to switch to a different screen MPRO_INPUT_FILTER for IED01 MPRO_INPUT_FILTER for IED02 directly and define the function’s exact behaviour there. Table 9.1: “Digital standard inputs” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...

  • Page 234: Function Selectors

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name / Setting Unit Description MPRO_INPUT_FILTER for IED03 HOMST (9) Start homing according to the homing method  parameterized in P 02261 MPRO_402_Homing  Method MPRO_INPUT_STATE_ States of filtered and inverted digital inputs HOMSW (10) Homing switch to determine the zero for  MPRO_INPUT_INV Dig. Invert inputs (ENPO=0, ISD00–05=1-6,  positioning SH=7,ISD06=16)  E_EXT (11) External error: Error messages from external ...

  • Page 235: Hardware Enable - Power Stage

    When the "ENPO" is cancelled the drive runs down negative direction (access also via MSD PLC). BRAKE_ON (40) Switch off motor break at once uncontrolled. If the switch-on delay is active, the power stage starts when the preset PWR_REL_DIRECT (41) Used to manually switch the precharge relay  timer has elapsed. (with 1000 ms delay) Use only after consultation  with Moog. Index Name / Setting Unit Description SPINDLECLAMP_S1 (42) Switch 1 input SPINDLECLAMP_S2 (43) Switch 2 input MPRO_INPUT_FS_ Function of digital input ENPO ENPO SPINDLECLAMP_S3 (44)

  • Page 236: Digital Virtual Inputs

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9.2.4  Digital virtual inputs Virtual inputs are digital software inputs actuated via MSD PLC or field bus. The virtual inputs P 111[0] - MPRO_INPUT_FS_ISV00 and P 112[0] - MPRO_INPUT_ FS_ISV0 can use all digital functions which are also available to the real digital inputs.

  • Page 237: Control Selector Switching

    TWIN(11) Reference via external option "TWINsync" When a digital input set to "MAN(14)" is activated, the control location P 159[0] - HYD(12) Hydraulic profile (software-specific) MPRO_REF_SEL = "TERM" switches (switch to "TERM" is not displayed in Moog ANA2(13) Profile via analog channel 2 (Technology option) ANA2(14) Profile via analog channel 3 (Technology option) ). At the same time, the setpoint source will be set to the setpoint...

  • Page 238: Pulse Direction

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9.3  Digital outputs Fig. 9.5: “Function selection of digital outputs” screen Fig. 9.4: Time diagram of sequences Command System state 9.3.1  Standard digital outputs ① Starting lockout ISDSH Safe Standstill (STO) There is a selector that can be used to assign a function to each digital  ② Ready for start ENPO EnablePower...

  • Page 239: Function Selectors

    Warning I2t motor protection on the control mode).  WLTQ (33) Warning torque/force threshold reached HOMATD (7) Homing point reached TBACT (34) Table positioning in "AUTO" and activated state E_FLW (8) Tracking error TAB0 (35) Actual table index 2^0 ROT_R (9) Motor in standstill window when running right TAB1 (36) Actual table index 2^1 ROT_L (10) Motor in standstill window when running left TAB2 (37) Actual table index 2^2 Table 9.8: “Digital outputs” function selectors MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...

  • Page 240: Relay Outputs

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name / Setting Unit Description Index Name / Setting Unit Description TAB3 (38) Actual table index 2^2 (69) Not defined COM_1MS (39) Set output via field bus in 1 ms cycle (70) Not defined COM_NC (40) Set output via field bus in NC cycle (71) Not defined USER (41) Firmware-specific function (72) Not defined...

  • Page 241: Status Of Digital Outputs

    Clicking on the “Status of digital outputs” field on the input screen for the digital outputs will open a visualization showing the digital outputs’ states. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...

  • Page 242: Sreference Limit Limit(14)

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Positioning The limit monitoring mechanism will signal whenever the speed setpoint exceeds the maximum speed or the torque setpoint exceeds the maximum torque (see Section "Limits / thresholds" on page 251).

  • Page 243: Analog Inputs

    109[0] - MPRO_INPUT_FS_ISA00 and P 110[0] - MPRO_ INPUT_FS_ISA01). Certain functions will only be available with specific function packages.  Depending on the configured function, the “Options...” button may become  enabled. If it is, this button can be used to switch to a different screen directly and define the function’s exact behaviour there. Every analog input can be smoothed with a freely configurable filter time  (P 405[0] - CON_ANA_Filt0 and P 406[0] - CON_ANA_Filt1). P 427[0] - CON_ANA_CalibZero can be used to trigger a zero correction  routine for both analog inputs. If you use this routine, there must not be any voltage at the inputs. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...

  • Page 244: Function Selectors

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 P 428[0] - ISA00 and P 428[1] - ISA01 can be used to assign an offset to each Index Name Unit Description  analog input separately. For details on how to use offsets, see Section "Analog ISA00_gain Gain scaling for input ISA00 input scaling" on page 245. ISA01_gain Gain scaling for input ISA01 ISA00_limMin Minimum value for input ISA00 P 429[0] - ISA00_gain and P 429[1] - ISA01_gain can be used to assign a ...

  • Page 245: Analog Input Scaling

    “Options...” button to configure additional (29) Not defined process variables such as “the backlash in rev/min” (when using an analog setpoint, (30) Not defined REFV). Table 9.12: “Analog inputs” function selectors (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...

  • Page 246: Profile Mode And Analog Inputs

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Usage examples  = +10 V, OUT  = +10 V Change to input voltage range of analog torque scaling  Change to input voltage range of speed override function  The corresponding formulas are:  and   Change to switching threshold of a digital input function  Resulting in a gain of G = 0.5 and an offset of O = 5 V  9.4.4  Profile mode and analog inputs Parameter P 301[0] - CON_REF_Mode determines whether the reference values are processed via the profile generator (setting “PG(0)”) or directly (setting “IP(1)”). If direct input via IP mode is selected, only the input filters are active.

  • Page 247: Wire Break Monitoring

    The function selector offers nine variables for selection for ISA01 each output. These variables can be filtered, scaled, and assigned an offset. Table 9.13: “Wire break monitoring” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...

  • Page 248: Function Selectors

    9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9.5.1  Function selectors 9.6  Motor brake output Index Name / Setting Unit Description 129, 130 MPRO_OUTPUT_FS_ Function selectors for analog outputs OEAxx OFF (0) No function NACT(1) Actual speed TACT(2) Actual torque/force Fig. 9.11: “Motor brake settings” dialog box IRMS(3) Effective current...

  • Page 249: Motor Brake Details

    Index Name Unit Description MPRO_BRK_LiftTime Motor brake lift time MPRO_BRK_CloseTime Motor brake close time MPRO_BRK_RiseTime Motor brake: Torque rise time MPRO_BRK_FadeTime Motor brake: Torque fade time Table 9.16: “Motor brake details” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 9  Input/Output settings...
  • Page 250 9  Input/Output settings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description MPRO_BRK_ Motor brake: Load factor for stored Torque LastTorqFact MPRO_BRK_StartTorq Nm Motor brake: Initial torque (constant) MPRO_BRK_LastTorq Nm Motor brake: Stored Torque MPRO_BRK_Lock lock brake Table 9.16: “Motor brake details” parameters (continue) NOTE If it is necessary to use a holding brake, observe the settings for  the stop ramps (see Section "Stop ramps" on page 187).

  • Page 251: Limits / Thresholds

    100 % of the rated quantities. The parameters must therefore be adapted to application and motor. The motor quantity limits can be read out in P 338 [0] - CON_SCON_ActMax. Limitations in closed-loop controlled mode MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 10  Limits / thresholds...

  • Page 252: Torque / Force Limits

    10  Limits / thresholds MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Torque- / force limits 10.2  Torque / force limits  Speed- / velocity limits  The torque is limited to a maximum by P 329[0] - CON_SCON_TMax. In the  Position limitation  default setting the torque limit corresponds to the rated torque of the motor. Power stage (see Section "Power Stage" on page 254) The possible setting range is 0-1000 %. The parameter can be changed  during operation. P 745 - MON_RefWindow and P 746[0] - MON_UsrPosWindow indicate the status In addition, P 329[0] - CON_SCON_TMax can be used to determine what the...

  • Page 253: Speed Limits

    CON_SCON_DirLock Direction lock for speed reference value detected. Then the programmed error reaction is executed. CON_SCON_SMaxScale % Scaling of motor speed limit Table 10.4: Positioning mode MON_SpeedThresh rpm Monitoring speed threshold MON_SDiffMax rpm Speed tracking error Table 10.3: “Limits / thresholds - Speed limits” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 10  Limits / thresholds...

  • Page 254: Power Stage

    10  Limits / thresholds MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 10.5  Power Stage Index Name Unit Description MPRO_REF_ Target reached option code If the DC link voltage value falls below the value set in P 747[0] - MON_PF_ TargetReachedOpC  OnLimit, error "ERR-34 Power failure detected" will be signalled and the MON_UsrPosDiffMax mDegree Position tracking error configured error response will be triggered (see Section "Error reactions" on 2235 MPRO_402_ 607DH DS402 software position limit (SW  SoftwarePosLimit limit switch) page 266).

  • Page 255: Alarm & Warnings

    730 - MON_WarningLevel (see Section "Warning Contents 11.1  Warning status thresholds" on page 264). 11.2  Alarms & warnings (Details) 11.3  Warning thresholds 11.4  Error display 11.5  Error reactions 11.6  Error list MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 256 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 P 34 Bit-No. Meaning xt integrator (motor) warning threshold exceeded Heat sink temperature Motor temperature Interior temperature Reserved for SERCOS Excessive speed Reserved for SERCOS Reserved for SERCOS Reserved for SERCOS Undervoltage (10) Reserved for SERCOS (11) Reserved for SERCOS (12) Reserved for SERCOS (13) Reserved for SERCOS (14) Reserved for SERCOS Fig. 11.1: Warning status window (15) Reserved for SERCOS...

  • Page 257: Alarms & Warnings (Details)

    P 33 - ActualError will describe the current error in detail, including a  timestamp, the probable cause, potential fixes, etc. P 39[0] - ERR_ErrorID will contain the error code, which provides  information regarding the error location and error type of the current error. P 71 - ActualErrorExt will contain information on the status of the servo drive  at the time the current error occurred, e.g. current, voltage, speed, temperatures. Fig. 11.2: Status word P 34[0] visual representation MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 258 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 P 31 - ErrorStack and P 70 - ErrorStackExt will contain the history with the Index Name Unit Description  most recent 20 errors along with the contents from P 33 and P 71. P 31 - Cause Error cause ErrorStack and P 70 - ErrorStackExt can also be displayed as tables. Remedy Error remedy P 72 - ErrorAbsCount is a counter for various pre-defined error events...
  • Page 259 Time Time stamp File Source / File CommentId Additional comment (id) Cause Error cause CommentText Additional comment (text) Remedy Error remedy Line Line of error occurrence Error id File Source / File Table 11.3: “Alarms & warnings (Details)” parameters (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 260 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description Cause Error cause CommentText Additional comment (text) Remedy Error remedy Line Line of error occurrence Error id File Source / File Location Error location Cause Error cause Time Time stamp Remedy Error remedy...
  • Page 261 Absolute temperature of interior Current Actual current Count "Counter, if same error occurs again" Voltage Actual DC voltage DriveComState Actual DriveComState ActSpeed 1/min Actual speed TimePowerStage Power stage time stamp of error event Temp_KK deg  Absolute temperature of cooling block Table 11.3: “Alarms & warnings (Details)” parameters (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 262 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description Temp_Int deg  Absolute temperature of interior Current Actual current Voltage Actual DC voltage Count "Counter, if same error occurs again" ActSpeed 1/min Actual speed DriveComState Actual DriveComState Temp_KK deg  Absolute temperature of cooling block TimePowerStage Power stage time stamp of error event...
  • Page 263 Absolute temperature of interior Current Actual current Voltage Actual DC voltage Count "Counter, if same error occurs again" ActSpeed 1/min Actual speed DriveComState Actual DriveComState Temp_KK deg  Absolute temperature of cooling block TimePowerStage Power stage time stamp of error event Table 11.3: “Alarms & warnings (Details)” parameters (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...

  • Page 264: Warning Thresholds

    11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11.3  Warning thresholds Index Name Unit Description Temp_Int deg  Absolute temperature of interior P 730 - MON_WarningLevel can be used to define warning thresholds in  ErrorAbsCount Absolute error counters order to prevent servo drive nuisance tripping. Each warning is assigned on Over voltage Overvoltage and off thresholds. This enables parameterization of a hysteresis that meets Over current Overcurrent the requirement of the application. Warnings can also be programmed onto Inverter overtemp. Overheating digital outputs.

  • Page 265: Error Display

    There are a number of ways of displaying an error message. An error message is indicated on the display of the servo drive (display D1/D2) or via the Moog Speed tracking error above threshold value . It provides a user-friendly readout in the "Device status"...

  • Page 266: Moog Driveadministrator Display

    The error will be reported; the response will be  Specific2 (2) carried out by an external controller Fig. 11.4: Moog D error screen RIVE DMINISTRATOR Table 11.6: Error reactions Immediately after an error occurs, it will be shown in a window. After closing the window by clicking on “Quit error” or “Later,” you can view the current error and the...
  • Page 267 Reac_EncCH3Init Error response: Channel 3 initialization encoder  Notify error, disable power stage, reset error (only by  error WaitERSAndReset (8) 24 V control voltage Off/On) Reac_EncoderCycl Error reaction: Cycl. encoder operation Error reaction: Encoder error, cycl. operation,  Reac_EncCH1Cycl Table 11.6: Error reactions (continue) echannel 1 Table 11.7: Parameters “Error reactions” MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 268 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description Error reaction: Encoder error, cycl. operation, Reac_EncCH2Cycl Reac_GridFailure "Reaction on ""power grid failure (by detection  echannel 2 circuit)""" Error reaction: Encoder error, cycl. operation, Reac_EncCH3Cycl Reac_SpeedGuard "Reaction on ""speed guarding error"""...

  • Page 269: Error List

    Error in power stage  initialization; selected  Unknown  (8) ParaList_PST_VL 0x6320 device voltage not  (5) RunTimeError EXCEPTION in TC- 0x6010 supported safety DC link overvoltage is  ParaList exceeding power  stage overvoltage  Parameter  (1) ParameterInit 0x6320 limit initalisation failed Table 11.8: Error list MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 270 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 Undervoltage  Fast I xt at high  (1) Off_MON_Device 0x3120 (7) OverCurrent_I2TS 0x2350...
  • Page 271 (2) ComOptSercos_ Illegal communication  0xFF0 IllegalPhase phase CAN option: Unknown  (3) ComOptSercos_ error Optical fibre break 0xFF00 CableBreak CAN option: BusOff  (1) ComOptCan_BusOff 0x8140 (4) ComOptSercos_ error Receive data faulty 0xFF00 DataDisturbed Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 272 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 (5) ComOptSercos_ (15) Communication error 0xFF00 MST failure 0xFF00 MasterSync EtherCAT®...
  • Page 273 Speed tracking error PARA_WatchDog in  (13) Parameter_MPRO control via user  0xFF00 Unknown speed  interface tracking error (14) Parameter_DV_ DV_INIT: Error in  (1) SpeedDiff_MON_ Speed tracking error  0xFF00 0x8400 INIT system initialization SDiff above threshold value Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 274 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 Current speed above  (5) MotionControl_MC_ Homing: Homing  (2) SpeedDiff_MON_ maximum speed of  0x8400 HOMING_ method available but ...
  • Page 275 (5) FatalError_ PST: Error reading  PowerStage_ 0x5400 Error in initialization of  power stage data (15) ErrorReadAccess protected memory (6) FatalError_ File access on device  PST: Error writing  (16) PowerStage_ 0x5400 not complete power stage data ErrorWriteAccess Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 276 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 Safety-system run-up  (17) Limit switches  with illegal firmware! HardwareLimitSwitch_ 0x8612 interchanged Interchanged Firmware-update of ...
  • Page 277 ETS, ProcessBlock  memory. Write parameter error.  ETS, NoOrder  (13) Group error from  parameterization  return of internal  error. No order for  parameter access. ETS operation. ETS, ELSE Common  ETS, ELSE Common  ETS error 21-14. No  (14) ETS error 21-08. No  further information  further information  available. available. Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 278 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 ETS, ELSE Common  ETS, ProcessBlock  ETS error 21-15. No  Group error: Process  (15) further information  (21) 'Special Block'. No ...
  • Page 279 (29) Block 9 'MotComp'.  ETS error 21-34. No  (34) No further information  further information  available. available. ETS, ProcessBlock  Encoder channel 1 Group error: Process  initialization Block 10  (30) Unknown error 'MotDatASM'. No  further information  available. Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 280 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 SinCos:  EnDat2.1: Plausibility  Plausibilisierung  check 'Multiturn' from  (6) EncCH1Init_ ‚Lines‘ aus PRam_ encoder Endat 2.1: ...
  • Page 281 (22) EncCH1Init_ Hiperface_Response_ 0x7305 Interface, general  0x7305 error in response Hiperface_Common error HIPERFACE®:  (23) EncCH1Init_ HIPERFACE®:  (30) EncCH1Init_ 0x7305 Response with error  Hiperface_Timeout Interface, Timeout Hiperface_Response_ 0x7305 bit: Status returns  Table 11.8: Error list (continue) communication error MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 282 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 HIPERFACE®:  EnDat2.1: Plausibility  (38) EncCH1Init_ (31) EncCH1Init_ Response with error  check 'Position Bits'  0x7305 EnDat2.1_PositionBits...
  • Page 283 (2) EncCH3Init_ General EO error  0x7307 (11) EncCH3Init_ EnDat2.1: Timeout on  Common_EO_Error (encoder option) 0x7305 EnDat2.1_SscTimeout SSC transfer (3) EncCH3Init_SSI_ Encoder monitoring 0x7307 (12) EncCH3Init_ EncObs_20c EnDat2.1: Timeout, no  EnDat2.1_ 0x7305 start bit from encoder Table 11.8: Error list (continue) StartbitTimeout MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 284 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 (13) EncCH3Init_ EnDat2.1: Position  EnDat2.1: Plausibility  0x7305 (39) EncCH3Init_ EnDat2.1_PosConvert data not consistent check 'Transfer Bits' of ...
  • Page 285 Plausibility check  EncCh1Cycl NP: Plausibility check,  (3) EncCH3Cycl_Np_ CounterDelta is out of  0x7305 Delta Unknown error range NP: Plausibility check,  TC (TriCore) (1) EncCH1Cycl_Np_ measured “counter  0x7305 Unknown error Distance distance” is out of  range Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 286 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 (1) TC_ASC TriCore ASC 0x5300 Error at lookup table  (bigtab) calculation. (2) TC_ASC2 TriCore ASC2 0x5300 TriCore floating point ...
  • Page 287 Wire break: Encoder  (4) EncObs_CH1_SSI 0xFF00 channel 1 Synchronization controller ENC CH1 SSI: error,  parity error Unknown error ENC CH3 SSI: error,  The ratios between  encoder monitoring interpolation,  (1) RatioError synchronization  0x6100 ENC CH3 SSI: error,  and/or speed control  parity error time do not match Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 288 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 Brake chopper Initialization error monitoring Multi I/O  Unknown error communication error Brake chopper ...
  • Page 289 0x8612 (2)TC-command- Command interface to  0x6100 value limitation. Lock  interface to SMC SMC module active in both  (3)PLC-application file  directions Download error 0x6100 (download) LERR_positionLimit (4)PLC-application file  Upload error 0x6100 Unknown error (upload) Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 290 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 (5)Generating alarm- or  (4)Alarm on  Error message from  error messages from  0x6100 SMC (SCO_1, System_ Alarm_SCO1_B 0x6100 safety system...
  • Page 291 Magnetic bearing set by encoder Unknown error LERR_ANA: Analogue Wire break detection,  analogue inputs Communication to  inputs magnetic bearing not  Unknown error established or lost Wire break on Warning from Bearing  (1)Wire break detection 0xFF00 analogue inputs electronics LERR_MotorFailure Motor phase error Table 11.8: Error list (continue) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 11  Alarm & warnings...
  • Page 292 11  Alarm & warnings MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Emergency Emergency Error Error Error location Error handling code Error location Error handling code CiA 402 CiA 402 Error from Bearing  Synchronous  electronics Modulator switching  frequency out of  Pos. Ctrl. of bearing  range electronics not active...

  • Page 293: Fieldbus

    EtherCAT® is defined in IEC 61158 and IEC 61784.  manuals where appropriate. For general information on EtherCAT®, please visit  Contents 12.1  CANopen / EtherCAT® www.ethercat.org EtherCAT® is a registered trademark and patented technology 12.2  SERCOS  licensed by Beckhoff Automation GmbH, Germany. 12.3  PROFIBUS / PROFINET 12.4  Synchronization / Configuration 12.5  EDS file generator MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 12  Fieldbus...

  • Page 294: Sercos

    12  Fieldbus MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 12.2  SERCOS 12.3  PROFIBUS / PROFINET NOTE NOTE For a full description of the SERCOS fieldbus option for the MSD For a full description of the PROFIBUS and PROFINET fieldbus   Servo Drive and MSD Single-Axis Servo Drive Compact options for the MSD Servo Drive and MSD Single-Axis Servo (operation, system requirements, connection, operating modes, Drive Compact (operation, system requirements, connection, configuration, commissioning), see the SERCOS II User manual operating modes, configuration, commissioning), see the (ID No.:CA65648-001) and the SERCOS III User manual (ID No.: PROFIBUS and PROFINET User manual (ID No.: CA65645-001). CA97557-001). PROFIBUS and PROFINET are defined in IEC 61158 and  SERCOS is defined in IEC 61784, IEC 61158 and IEC 61800-7. IEC 61784.  For general information on SERCOS, please visit www.sercos.org For general information on PROFIBUS and PROFINET, please   visit www.profibus.com...

  • Page 295: Synchronization / Configuration

    2008 COM_SYNC_CTRL setup fieldbus synchronization controller 2008 COM_SYNC_CTRL_Ref 15ns reference time for incoming sync relative to ad- start 2008 COM_SYNC_CTRL_Wnd 15ns window to indicate that axis is synchronized a. Be generated with the help of the EDS file generator for the current firmware 2008 COM_SYNC_CTRL_kp DC link controller: Gain on the device 2008 COM_SYNC_CTRL_ki integration b. Be downloaded from our website, www.moog.com/industrial 2008 COM_SYNC_CTRL_max us maximum control output 2008 COM_SYNC_CTRL_min us minimum control output NOTE 2008 COM_SYNC_CTRL_Tfil synchronization filter time 2008 COM_SYNC_CTRL_____ The CANopen fieldbus system is one of the options available for MPRO_DRVCOM_CFG DriveCom: Configuration of device (requires ...

  • Page 296: Technology Options (X8)

    SSI module (see Section "SSI encoder simulation" on page 298)  TwinSync module (see Section "TwinSync" on page 299)  For the encoder types that can be evaluated, see Section "Channel 3: Interface X8 (optional)" on page 74 as well. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 13  Technology options (X8)

  • Page 297: Second Sin/Cos Encoder

    13  Technology options (X8) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 13.2  Second Sin/Cos encoder 13.3  Sin/Cos encoder NOTE NOTE For a full description of the “Second Sin/Cos encoder” technology For a full description of the “Sin/Cos encoder” technology option   option (technical data, connections, configuration), see the (technical data, connections, configuration), see the “Option 2 - “Option 2 - Technology, Sin/Cos encoder Specification” (ID No.: Technology, Sin/Cos encoder Specification” (ID No.: CB13516- CA79903-001). 002).

  • Page 298: Ttl With Encoder Simulation

    2810 TOPT_SSI_EncobsUse Transmit encoder observation bit 2811 TOPT_InOut_EncSim_ Encoder simulation source selection Source 2820 TOPT_SSI_GrayCode Use Gray coding 2821 TOPT_SSI_Baudrate SSI Baud rate 2822 TOPT_SSI_MultiturnVal actual SSI multiturn value 2823 TOPT_SSI_SingleturnVal actual SSI singleturn value Table 13.1: SSI encoder simulation parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 13  Technology options (X8)

  • Page 299: Twinsync

    13  Technology options (X8) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 13.6  TwinSync NOTE For a full description of the “TWINsync” technology option  (technical data, connections, configuration), see the “Option 2 - Technology, TWINsync option Specification” (ID No.: CB08759- 001).

  • Page 300: Device Status

    “Scope signals of Device status ” (at the very top of the Numerical status Actual numerical device status window). Textual status Actual textual device status Fault reset Fault reset command Table 14.1: “Device status” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 14  Device status...

  • Page 301: Status Bits

    14  Device status MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Comprehensive error information can be accessed using the “Error History” button 14.3  Load factor (see Section "Alarms and warnings (Details)" on page 255.) Index Name Unit Description If an error is currently present, it can be confirmed by clicking on the “Quit error”...

  • Page 302: Manual Mode

    “Activate manual mode” button, a safety prompt that needs to be confirmed will Brief description This chapter describes the configuration and control options  appear. for the “Manual mode” window. Contents 15.1  Manual mode window 15.2  Manual mode control status Fig. 15.1: Safety information MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 15  Manual mode...
  • Page 303 15  Manual mode MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Once the safety prompt is confirmed, the “Manual mode” window will be enabled, after which you can select a control mode and configure it for manual operation.
  • Page 304 Fig. 15.3: “Manual mode” window (enabled) - Homing tab Fig. 15.4: “Manual mode” window (enabled) - Jog mode tab MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 15  Manual mode...
  • Page 305 15  Manual mode MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Fig. 15.5: “Manual mode” window (enabled) - Reversing PG(0) tab Fig. 15.6: “Manual mode” window (enabled) - Reversing IP(1) tab...

  • Page 306: Manual Mode Control Status

    MSD Servo Drive in hexadecimal format. WatchDog MPRO_PARA_Time Drive commissioning: Reverse control timer Index Name Unit Description MPRO_FG_ Factor group: actual speed factor (1/min to  ActualSpeedFac user speed) MPRO_PARA_CTRL Drive commissioning: Control word Table 15.1: “Manual mode” parameters Table 15.2: “Manual mode control status” parameters MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 15  Manual mode...

  • Page 307: Device Description

    Servo Drive, including the device model, serial number, communication and technology options, hardware and software versions, and operating time. This information is also available in the form of parameters. MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018...
  • Page 308 16  Device description MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description DV_SwVersionVar Software version variant of device (plain text) DV_DeviceId Device family/series ID USB_IO_Statistic Statistic data of USB-IO Infineon driver DV_DeviceName Device name / product name uReset Reset statistical data DV_DeviceAliasName Application-specific device name alias uIntEp0 DV_SwVersion Firmware version on device uIntEp1 Calling count of handler for end point 1 ACK  DV_DeviceFamilyName Device family name...
  • Page 309 DisplayAttributes Harmonized attributes for parameter  representation PARA_DSC_SaveGroup IsComplex True, if parameter is build of individual different  PARA_DSC_SaveGroup sub parameters PARA_DSC_SaveGroup IsInteractive True, if parameter access triggers interactive  Table 16.4: Parameter “Drive description - Interface" (continue) Table 16.4: Parameter “Drive description - Interface" MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 16  Device description...
  • Page 310 16  Device description MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Index Name Unit Description Index Name Unit Description PARA_DSC_Device Device description concerning parameter list Maximum Sub parameters maximum value as float32 Default Sub parameters default value as float32 ParaCount Number of registered parameters StringDefault Manufacture default value as text GroupCount Number of parameter groups SaveGroupCount Number of parameter save groups NativeMinimum Sub parameters native minimum value as 4 byte  data stream PARA_DSC_Para2 Detailed description of a parameter...

  • Page 311: Index

    Basic setting Parameters Motor control basic settings CANopen 21, 293 Shutdown EDS file Control location selector State machine Control word Technology option Auto commutation Touch probe Fieldbus MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 17  Index...
  • Page 312 17  Index MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Homing Electronic rating plate Process controller Encoder 49, 300, 307 Sensorless control Gearing 68, 73, 87 Setpoint table 208, 211 Multi-turn 101, 103 Speed control Pinout Synchronized motion...
  • Page 313 Methods (17) to (30) Method (1) Methods (7) to (10) Method (11) Method (12) Method (13) I²t monitoring asynchronous motor Method (14) IECON(4) method Method (15) IENCC(1) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 17  Index...
  • Page 314 17  Index MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Indexing table function Limitation Infinite driving job Position Process option Setting Relative driving job Speed Inputs Load factor 243, See also Analog channel Analog Profile mode 302,306 Manual mode...
  • Page 315 Power-up sequence Multi-turn encoder Power failure response As single-turn encoder Power stage Multi-turn overflow Settings PRBS signal Observer Pre-control Outputs Process controller Analog PROFIBUS 21, 294 Digital PROFINET MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 17  Index...
  • Page 316 17  Index MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Position unit Speed Quick stop SERCOS 21, 294 Sensorless 'Halt' status Axis correction Device warning status word Rate limiter Error message Reference 206, 241 Error response Limitation...
  • Page 317 IECON auto commutation Process controller 154-155 IP mode Synchronized motion 219, 221 252-253 Limiting Stiffness Mass inertia Drive train 16, 235, 238, 240-241 PG mode STO (Safe Torque Off) MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 17  Index...
  • Page 318 17  Index MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 Stop Test signal generator Stop ramps Thresholds 218, See also Electronic cam plate Synchronized motion Torque During homing 192-193 Feed-forward control Target Group Field weakening 138, 140-141, 143...
  • Page 319 Zero pulse 104, 194, 196, 199, 202 Hall 74-75 Master encoder Number of lines 61, 79 Pin assignment 55-56 With commutation signals 74-75 V/Hz mode Virtual Master MOOG MSD Servo Drive - Device Help ID No.: CB40859-001 Date: 02/2018 17  Index...
  • Page 320 TAKE A CLOSE LOOK. MOOG Moog solutions are only a click away. Visit our worldwide Web site for more Moog GmbH information and the Moog facility nearest you. Hanns-Klemm-Strasse 28 D-71034 Böblingen Australia India Russia Telefon +49 7031 622-0 +61 3 9561 6044 +91 80 4057 6666...

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