Moog MSD Servo Drive Device Help
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Moog MSD Servo Drive 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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  • 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 Effective as of firmware version   V124.30-xx  (MSD Single-Axis Servo Drive Compact)   V124.30-xx  (MSD Servo Drive Single-Axis System and Multi-Axis System)   V174.30-xx (if you need to use hydraulic parameters, see Section "Hydraulic  control" on page 173 for details) The structure of this help, as well as the screenshots used, were taken from Moog 5 Version 5.6. RIVE DMINISTRATOR The German version is the original version of this documentation.
  • Page 3 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: 11/2020...
  • Page 4 Table of contents MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Table of contents 4.1.2  Switching frequency 4.1.3  Online derating of switching frequency 4.1.4  Parameters 4.2  Power failure bridging Legal information 4.2.1  Detection of a voltage failure 4.2.2  Monitoring for single-phase failure Table of contents 5  Motor...
  • Page 5 7  Control 7.8.2  LHMES(2) method 7.8.3  IECON(4) method 7.1  Overview of control structure 7.8.4  Test signal generator 7.1.1  Setting 7.9  V/Hz mode 7.2  Basic settings 7.10  Process controller MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Table of contents...
  • Page 6 Table of contents MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.10.1  Features 8.5.2  Method (-13): Absolute encoder 7.10.2  Description of control structure 8.5.3  Method (-12): Set absolute position (absolute measuring system) 7.10.3  Rate Limiter 8.5.4  Method (-10) and Method (-11): Move to block with zero pulse 7.10.4  Parameters...
  • Page 7 9.4.4  Profile mode and analog inputs 11.6.15  Error 14: EtherCAT error 9.4.5  Wire Break Monitoring 11.6.16  Error 15: Parameter error 9.5  Analog outputs (option only for MSD Servo Drive) 11.6.17  Error 16: Speed difference error 9.5.1  Function selectors 11.6.18  Error 17: Position difference error 9.6  Motor brake output...
  • Page 8 Table of contents MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.28  Error 28: Encoder channel 3, cyclic process error 13  Technology options (X8) 11.6.29  Error 30: Control initialization error 13.1  Selection of modules 11.6.30  Error 31: PLC error 13.2  Second Sin/Cos encoder...
  • Page 9 1  General information NOTE   This Device Help applies to the MSD Servo Drive and  MSD Single-Axis Servo Drive Compact. These instructions are not  The product CD from Moog contains the complete documentation for the respective meant as a replacement for the Operation Manuals for the MSD  Servo Drive or MSD Single-Axis Servo Drive Compact. product series. The documentation of a product series includes Operation Manual (hardware description), Device Help (software description) and other User Manuals (e.g.
  • Page 10 1  General information MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 1.3  Pictograms The pictograms used in this Device Help have the following meaning for the user: NOTE   Useful information or references to other documents.     Reference to further applicable documents. Step Action HANDLING INSTRUCTIONS (Number) Operating step performed by either the user or the system.
  • Page 11 1.4  Exclusion of liability Compliance with the documentation for the devices from Moog is a prerequisite for:   safe operation and   attaining the performance characteristics and product characteristics  described. Moog accepts no liability for personal injury, material damage or financial losses arising from disregard of the documentation. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020...
  • Page 12 1  General information MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 1.5  Applicable documentation Document Contents ID No.: Format MSD Single-Axis Servo Drive Compact  Safety, device installation, setup, commissioning, diagnostics, specifications, certifications  CA97555-001 - Operation Manual and applicable standards, technical data MSD Servo Drive Single-Axis System -  Safety, device installation, setup, commissioning, diagnostics, specifications, certifications  CA65642-001 Operation Manual and applicable standards, technical data Safety, device installation, set-up, commissioning, diagnostics, STO, operation with Servo  MSD Servo Drive Multi-Axis System-  Drive as supply, planning, application example, specifications, certifications and applicable  CA97554-001 Operation Manual standards, technical data MSD   P ower Supply Unit - Operation  Safety, device installation, setup, commissioning, diagnostics, specifications, certifications  CA97556-001 Manual and applicable standards, technical data...
  • Page 13 CB32162-001 encoder with commutation signals MSD Servo Drive - Specification for safe  tech option (second safe Sin/Cos   13 Connection, configuration CC23875-001 encoder + second safe SSI encoder +  second safe axis monitoring (Sin/Cos)) MSD Servo Drive  Quick installation manual CC52008-001 MSD PLC Function Package  CB15237-001   MSD PLC Manual Basic Functionality and Libraries (only available in  Table 1.1: Applicable documents (continue) NOTE   For the latest versions of the aforementioned documents, please visit our website at http://www.moogsoftwaredownload.com/msd.html. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 1  General information...
  • Page 14 1  General information MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 1.6   Technical Helpline If you have any technical questions concerning the planning, configuration or commissioning for your device, our Technical Helpline staff will be more than happy to assist you quickly and effectively.
  • Page 15 Risk of injury posed by uncontrolled rotation!   The device must only be installed and commissioned in  compliance with the documentation for the corresponding device  family! Improper conduct can lead to serious injury or death.   Before commissioning motors with feather key on the    shaft end it must be secured to prevent it from being  ejected, if this is not prevented by drive elements such  NOTE as pulleys, couplings or similar.   Please also pay special attention to the safety and warning  information in the respective valid operation manual when  commissioning the drive!   MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 2  Safety...
  • Page 16 2  Safety MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   For the risk assessment of the complete machine or system according to EN  CAUTION! Your system/motor may be damaged if put into operation in ISO 12100:2011 and EN ISO 13849-1. an uncontrolled or inappropriate manner. Observe the topic “Electrical equipment of machines” in EN 60204-1:2006 “Safety of Improper conduct can cause damage to your system / machinery”.
  • Page 17 3.3  Motor If the Moog D 5 is opened without an existing project, a prompt to RIVE DMINISTRATOR undertake initial commissioning appears automatically. 3.4  Encoder 3.5  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 3  Initial commissioning...
  • Page 18 3  Initial commissioning MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 3.1.3  Initial commissioning Image 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 Current controller tuning Identification or calculation of motor data    Calculation of nominal flux Data set calculation:   Complete "Calculation of control settings" screen 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: 11/2020 3  Initial commissioning...
  • Page 20 3  Initial commissioning MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Action Step Subject area Instruction Rotary motor Linear motor   Motor phase test   Determine encoder offset Automatic tests   Determine mass inertia Open manual mode window   Control type V/Hz (open loop) operation 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, IOs, field buses: 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 refer to the   M oog   5 help. RIVE DMINISTRATOR Table 3.1: Instructions for the commissioning wizard (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 3  Initial commissioning...
  • Page 22 3  Initial commissioning MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 Image 3.5: “Initial Commissioning - Motor data and control settings” screen   You can click on the "Select motor data set" 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 32.   If you need to configure the temperature and current monitoring mechanism,  click on the "Motor protection" button. For details see Section "Motor  protection" on page 40.   To configure a motor brake, click on the "Motor brake" button. For details see  Section "Motor brake output" on page 308. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 3  Initial commissioning...
  • Page 24 3  Initial commissioning MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 3.4  Encoder 3.5  Control Image 3.6: “Initial commissioning - Encoder selection” screen   There is a database available for commissioning the encoder. This database  can be used to select from a large number of standard models. Image 3.7: “Initial Commissioning - Control” screen   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. selection" on page 53  ...
  • Page 25 The list boxes in the screen 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: 11/2020 4  Power stage...
  • Page 26 4  Power stage MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 4.1.1  Voltage supply Step0: No reduction of the switching frequency (the operating switching frequency from P 302 is used). P 307[0] - CON_VoltageSupply is used to configure the power supply. For single- Step1: 1st reduction step for the switching frequency axis applications only the settings (0) to (5) are allowed.
  • Page 27 V r.m.s Mains voltage CON_ DC link voltage (DC low voltage) DCLinkVoltageNom Table 4.3: “Power stage - DC drives” parameters Index Name Unit Description CON_VoltageNom Nominal voltage (DC low voltage) Table 4.4: “Power stage - Low-voltage DC supply” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 4  Power stage...
  • Page 28 4  Power stage MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 4.2  Power failure bridging 4.2.1.1  Functional description The P 2940 - CON_PowerFail_Sel selection parameter can be used to select the 4.2.1  Detection of a voltage failure following operating modes: The mains failure support feature detects a failure of at least two phases of the mains 0= (OFF) switched off supply.
  • Page 29 34-1 will be triggered. If P 2943[0] - CON_POWF_RetTime is set to 65535, there will be no time limit for the drive to return to its original control state after power Only with expanded VFC functionality. returns. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 4  Power stage...
  • Page 30 4  Power stage MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 4.2.1.4  Parameters Mode 5 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 5-10 times that as the monitoring threshold. The monitoring triggers error 54-1 (Emergency code 6100h). See chapter 11.6   Error list. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 4  Power stage...
  • Page 32 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 33 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 34 Table 5.1: “Synchronous motor” parameters 5 via the menu, View, Messages.   Calculation of operating point: Flux P 462 - MOT_FLUXNom   Calculation of: current, speed and position control parameters NOTE   All existing motor parameters are overwritten. Calculated values   Flux settings (including for torque constant)   Control settings for current controller: the current controller is dimensioned  based on the actual switching frequency set.   Speed controller and position controller gain: here a moderately stiff  mechanism and mass inertia matching from load to motor with a ratio of 1:1 is  to be assumed.   V/F characteristic NOTE   All existing control parameters are overwritten. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 35 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 Lsig_q@I3 Inductance @ CurrentI3...
  • Page 36   Variant 2: Motor identification (see Section "Motor identification" on page 45) based on the actual switching frequency set. Variant 1: Motor calculation   PI speed controller and position controller gain: A moderately rigid  mechanism and moment of inertia matching from load to motor with a ratio of    Enter the motor data 1:1 is assumed here. The motor data relevant to the calculation must be entered from the data  sheet.   The default value for speed tracking error monitoring corresponds to 50% of  the nominal speed.   Click on “Start calculation”.   V/F characteristic   If the moment of inertia of the motor P 461 - Mot_J is not known, a value  roughly corresponding to the motor's moment of inertia must be applied. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 37 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 Table 5.3: “Linear synchronous motor” parameters...
  • Page 38 Table 5.4: “Linear synchronous motor electronic data” parameters Image 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 45) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 39 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Variant 1: Motor calculation Index Name Unit Description MOT_Name   Name of motor parameter set   Enter the motor data MOT_CosPhi   Motor rated power factor The motor data relevant to the calculation must be entered from the data  MOT_FNom Motor rated frequency sheet. MOT_VNom Motor rated voltage MOT_CNom Motor rated current   Click on “Start calculation”. MOT_SNom Motor rated speed MOT_PNom Motor rated power...
  • Page 40 Index P Name / Setting Unit Function Table 5.6: “Asynchronous motor electrical data” 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: 11/2020 5  Motor...
  • Page 41 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 P No. Index P Name / Setting Unit Function P No. Index P Name / Setting Unit Function   MON_MotorPTC   Selection of sensor type     X5_X8(4)   X5 and X8 connector temperature sensor (tech  opt module)  ...
  • Page 42 The following table provides an overview of the selection options for sensor types with P 732[0] as well as the connection options for the plug-in connectors X5, X6, X7 and X8 (Tech. option) for MSD Servo Drive and MSD Single-Axis Servo Drive Compact.
  • Page 43 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5.5.2  I²t monitoring synchronous motor If the I t type is set to "THERM(1) = Thermal time constant dependent", all settings apart from the thermal time constant are disabled. A synchronous motor by design has lower loss than an asynchronous motor, If the integrator exceeds its limit value, the error E-09-01 is triggered.
  • Page 44 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]   The shut-off threshold is 110% (reduction in current noise) Image 5.10: “I²T monitoring” screen for an asynchronous motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 45 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5.6  Motor identification Image 5.12: “Motor identification" screen for a linear synchronous motor Image 5.11: “Motor identification" screen for a rotary synchronous motor...
  • Page 46 When the Rating plate data have been entered in the screen, identification is started by clicking the "Start identification" button. A safety notice must be confirmed with a tick (check mark). MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 47 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5.7  Support for motor filters when using PMSM  motors 5.7.1  General functional description In applications involving high-speed drives in particular, the use of filters between the inverter output and the motor is widespread as a measure designed to attenuate current harmonics.
  • Page 48 Because of this, the use of sine wave filters is not recommended for drives No filter compensation. The current controller decoupling network will be active. that require a high dynamic performance. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 49 5  Motor MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 2πf s MOT_Filt_Sel = (MCHOKE)1 Has no effect on the current setpoint calculation. Instead, it just deactivates the Sd,ref current controller decoupling network. If necessary, the calculated motor terminal...
  • Page 50   5.7.4  Scope signals Index Name Unit Description 2500 isdpre_SinFilt Calculated filter capacitor current d components  (isd  in the formula above) 2501 isqpre_SinFilt Calculated filter capacitor current q components  (isq  in the formula above) 2502 usdmot_SinFilt Calculated motor terminal voltage d components 2503 usqmot_SinFilt Calculated motor terminal voltage q components Table 5.11: “Motor filter” scope signals MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 5  Motor...
  • Page 51 6.1  Introduction 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: 11/2020 6  Encoder...
  • Page 52 The relevant encoder positions will be delivered at the encoder channel outputs to On the MSD Servo Drive, EnDat and SSI can be selected simultaneously only once. the mechanisms in charge of further processing in the Servo Drive. At these points, Even though there is an additional option for EnDat/SSI at X8, the following cannot the actual value will be passed to one parameter per encoder channel.
  • Page 53 P 503 - ENC_CH4_ActVal for Ch4 The parameters are field parameters with...   Index 0 (single-turn component) and   Index 1 (multi-turn component) Image 6.1: Encoder channel selection screen 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.
  • Page 54 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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_   Speed control, use P 521[0] - ENC_SCon MConOffset can be used to set an offset.
  • Page 55 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 standard Moog motors, as   If your Servo Drive comes with a technology option with an  the encoders are aligned. In the case of third-party motors that are not aligned, the encoder function (X8 connector), see the corresponding ...
  • Page 56 1) Internally connected to X7/10 in MSD Single-Axis Servo Drive Compact. 2) Internally connected to X7/9 in MSD Single-Axis Servo Drive Compact. 3) NTC for MSD Single-Axis Servo Drive Compact with adapter only Table 6.2: Pin assignment X6 (MSD Servo Drive and MSD Single-Axis Servo Drive Compact)
  • Page 57 1) The total of the currents drawn at X7/3 and X6/4 must not exceed the specified value! 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: 11/2020...
  • Page 58 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Sin/Cos- Sin/Cos- Absolute Absolute Absolute Absolute Absolute Absolute Sin/Cos and encoder, Sin/Cos and encoder, Abb. value encoder, Abb. value encoder, EnDat EnDat sender HIPERFACE® sender HIPERFACE® (digital) (digital)
  • Page 59 Select from database Clicking on this button will open a menu that can be used to select encoders. The 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 555[0] - ENC_CH1_Info).

  • Page 60: Table Of Contents

    ID No.: CB40859-001   Date: 11/2020   Code and Mode are used to set SSI modes. If Mode=1, wire break monitoring  Signal correction (GPOC) (if any) will be disabled, for example. If Mode = 0, it will be enabled instead  GPOC is a special Moog online process for improving the quality of Sin/Cos signals (default). before they are used to calculate a position. If “SINCOS(1)” is selected as the “main   In the case of linear encoders, PeriodLen and DigitalResolution will be ...
  • Page 61 The software versions required to run the EnDat encoder interface are the standard software versions for the MSD Servo Drive and MSD Single-Axis Servo Drive  1.  Special EnDat encoder with diagnostics for evaluation ...
  • Page 62 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 will be read. During the initialization process, the system will read the  Index Name Unit Description encoder to determine which valuation numbers it supports. When P 640[0] - ENDAT_Z1_1   Z1 info: dword 1 ENDAT_Select = 1, the function will be enabled in the controller and the  ENDAT_Z1_2   Z1 info: dword 2 internal diagnostics in the EnDaT encoder will be enabled as well. The  ENDAT_Z1_3   Z1 info: dword 3 EnDat encoder will keep this setting even after being powered off. To  ENDAT_Z1_4   Z1 info: dword 4 ENDAT_Z2_Sel   EnDat additional information 2 type selection explicitly disable the internal diagnostics in the EnDat encoder, set P 640[0] - ENDAT_Z2_1  ...
  • Page 63 P 558[0] - ENC_CH1_TTL_SignalType: See Section "Sin/Cos incremental encoders with absolute value interface" on page   (0)AF_B - A/B tracks (forward counting, X4 encoding) - AB 65 and in specialSection "SSI absolute value interface" on page 67.   (1)AR_B - A/B tracks (reverse counting, X4 encoding) - AB_inv MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 64 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.5.4.2  Sin/Cos encoder Index Name Unit Description ENC_CH1_Sel = 3   Encoder selection set to TTL(3) ENC_CH1_Num   Encoder gearing: Numerator Ch1: SINCOS(1) - Sin/Cos signals ENC_CH1_Denom   Encoder gearing: Denominator ENC_CH1_Abs   Selection of absolute value interface Sin/Cos encoders can ... ENC_CH1_NpTest  ...
  • Page 65 ENC_CH1_Sel = 1   Encoder selection set to SINCOS(1) The MTBase parameter is used to set a position in the multi-turn encoder’s  ENC_CH1_Num   Encoder gearing: Numerator travel path that defines the point of discontinuity (overflow/underflow) for the  ENC_CH1_Denom   Encoder gearing: Denominator absolute value initialization (that is, the “multi-turn basis”). Assuming a  ENC_CH1_Abs   Absolute value interface selection (one-time  reading) bipolar encoder measuring range, all position values that fall below MTBase  Table 6.9: Parameters for channel 1 (X7) - Sin/Cos encoder will be shifted “up” (the whole MT range will be added to them once). This  MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 66 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 method makes it possible to place the point of discontinuity at any point  contrast, linear SSI encoders are treated as rotary SSI encoders (in this case,  within the encoder’s entire measuring range. By default, MTBase will be set  it is impossible to determine that the system is a linear encoder system based  to the lowest possible value for the parameter, i.e. reliably outside of the  on the encoder head). Likewise, linear Sin/Cos encoders without an absolute  encoder’s value range: In this case, the full bipolar range will remain  value interface are treated as “rotary” encoders (if run as commutation  unaffected, as values will never fall below this MTBase threshold (see  encoders, the number of tracks, or lines (Lines) and the encoder gearing  Section "Channel 1: Interface X7" on page 59). (Num, Denom) must be used to establish the relationship to the linear  motor’s magn. pole pair subdivision). Only in the case of Sin/Cos encoders    P 548[0] - ENC_CH1_MTEnable = MultiTurn as SingleTurn with distance-coded reference marks will the system determine, based on  The MTEnable parameter makes it possible to use multi-turn encoders as  PeriodLen > 0, that the encoder system is linear and not rotary. single-turn encoders for test purposes. Negative logic: Default MTEnable = 0  means "MultiTurn-Enable ON".   P 555[0] - ENC_CH1_Info = Encoder Information This parameter is available to the user so that they can enter a text of their ...
  • Page 67 ID byte, referred to as the “TypeKey”, will be read and “one-time reading” method. from the encoder and interpreted: If it is equal to FFh, the data for Lines, MultiT and MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...

  • Page 68: Index Name / Settings

    With P 1900 - ENC_ETS, the HIPERFACE interface also supports what is referred to Request_COMMAND_Key   Request command of last transmission Response_COMMAND_Key   Response command of last transmission as the “Moog electronic rating plate.” If this parameter is set to SCAN(0), the motor’s Error_Bit_Response_   Encoder signals error with last response commutation offset will be read from the encoder’s OEM memory and copied to COMMAND P 349 - CON_FM_MConOffset, but only if this offset can be unambiguously...
  • Page 69 SSI encoder basics and requirements transmitted (request to encoder “left” + response from encoder “right”) will be shown The SSI interface on the MSD Servo Drive has been designed as an actual motor completely. feedback interface. Accordingly, the connected SSI encoder must meet the following criteria: 6.5.4.2.8  SSI_CONT absolute value interface...

  • Page 70: Enc_Ch1_Code

    Gray decoding will be selected by default. The other option is to use binary  addition, ENC_CH1_Mode makes it possible to run special SSI encoders that deliver decoding. one or more special bits after the data. In this case, the MSD Servo Drive will not   P 546[0] - ENC_CH1_Mode = Available SSI auxiliary settings evaluate these bits – this mode is meant to make it possible to work with SSI This parameter has a 16-bit hex value. With the default setting (0000h), SSI ...
  • Page 71 EMC disturbance, this limits the (incorrectly detected) tracking error and ENC_CH3_Num   Denominator of channel 3 the response of the controller. ENC_CH3_Denom   Numerator of channel 3 Table 6.14: Parameters for encoder gearing MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 72 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.6  Channel 2: Interface X6 Parameters   P 500[0] - ENC_CH1_ActVal[0].SingleTurn and   P 500[1] - ENC_CH1_ActVal[1].MultiTurn are used, for example, to indicate the current position value at the output for encoder channel Ch1. These parameters can also be used for checking purposes during commissioning.
  • Page 73 Table 6.15: Encoder configuration channel 2 (X6) parameters (continue)   Transformation ratio of approx. 0.5 GPOC is a special Moog online process for improving the quality of Sin/Cos The Sel and Lines parameters are self-explanatory. signals before they are used to calculate a position. If Sel = RES(1) or Sel = SINCOS Other parameters, such as Num and Denom, are described elsewhere (see Section (2), this process may come in handy.
  • Page 74 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 can become important in the case of higher rotating field frequencies. When there is an absolute reduction in signal strengths (amplitudes) as a result of the long cables, P 566[0] - ENC_CH2_Amplitude can be used to subsequently increase these...
  • Page 75 Index Name Unit Description ENC_CH1_Corr   Signal correction type   ENC_CH1_CorrVal   Signal correction values OffsetA   Offset, track A - cosine OffsetB   Offset, track B - sine Table 6.17: Signal correction (GPOC) parameters for channel 1 (X7) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 76 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 77 “No.” column  As per the table above.   “Hardware ID” column  The texts in this column can be viewed in the Moog D  5   u sing P 53[0] - DV_HwOptionX12ID by going to ►Drive description ►Hardware version if the  RIVE DMINISTRATOR corresponding technology option is present.   “Selection” column  In certain cases, several different encoder types can be run on a technology option and selected with P 507 - ENC_CH3_Sel. Even if a technology option that does not  match is equipped, most values can only be selected with P 507 - ENC_CH3_Sel. If an impermissible combination is selected, this will be indicated by means of error  messages during the initialization phase. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 78 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Technology option name Hardware ID Selection No module NONE(0) - No technology option OFF (0) SINCOS(1) - Sin/Cos cyclic *) - Without absolute value interface, Abs=OFF(0), with zero pulse - With SSI one-time reading, Abs=SSI(1) Second Sin/Cos encoder SINCOS_V2(10) - 2nd Sin/Cos encoder (V2) - With EnDat one-time reading, Abs=ENDAT(2) SSI(2) - Cyclical SSI (without analog tracks) TTL(3) - TTL evaluation, with zero pulse ENDAT(4) - Cyclical EnDat (without analog tracks) TTL encoder simulation / TTL master encoder TTL_ECSIM_V2(9) - TTL Encodersimulation (V2) TTL(3) SSI encoder simulation SSI_ECSIM(3) - SSI encodersimulation SSI(2) - Cyclical SSI (without analog tracks) TTL(3) TTL encoder with commutation signals TTL_COM(11) - TTL + Hall option TTL_COM(5) Table 6.19: Options for X8 interface that can be used to evaluate encoders via encoder channel Ch3...
  • Page 79 Clicking on this button will open a menu that can be used to select encoders. The under “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 of 31 characters) (P 580[0] - ENC_CH3_Info).
  • Page 80   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 online process for improving the quality of Sin/Cos signals The default value is 0.2 (20%) and stands for a calculated amplitude value  (calculated using the two Sin/Cos signals) of x = sqrt(a² + b²). If the Sin/Cos  before they are used to calculate a position. If “SINCOS(1)” is selected as the “main signals are equal to approx. 1 Vss when compared, approx. 0.8 will be ...
  • Page 81   ENC CH3: Extended SignalType ENC_CH3_Info   Encoder information channel 3 Table 6.21: Encoder configuration channel 3 (X8) parameters (continue) 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: 11/2020 6  Encoder...
  • Page 82 Section "EnDat (cyclical) X7" on page 61).  b.  ... ... in a few exceptional cases, incremental encoders with an SSI absolute  The software versions required to run the EnDat interface are the standard software value interface. In this case, P 570[0] - ENC_CH3_Abs must be accordingly  versions for the MSD Servo Drive and MSD Single-Axis Servo Drive Compact. set to SSI(1) so that it will be possible to read the absolute encoder position  for the absolute value initialization routine once during the initialization  NOTE phase.
  • Page 83 156.   (4) reserved 6.7.5.1.2  TTL incremental encoder with SSI absolute  value interface see Section "Sin/Cos incremental encoders with absolute value interface" on page 84 and in specialSection "SSI absolute value interface" on page 86. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 84 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020  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   S ingle-Axis System, for example). ENC_CH3_NpTest   ENC CH1, TEST-MODE: Index pulse signal(s) to Scope ENC_CH3_Lines  ...
  • Page 85 The Code and Mode parameters are described in Section "SSI (cyclical) X7" on P 583[0] - ENC_CH3_DigitalResolution = linear absolute encoder page 69. 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 of 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: 11/2020 6  Encoder...
  • Page 86 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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).    DIG(1) - Digital: Only the digital component will be used for the absolute value  Only in the case of Sin/Cos encoders with distance-coded reference marks  initialization. will the system determine, based on PeriodLen > 0, that the encoder system  is linear and not rotary.   SEK_SEL37(2) - Automatic: Digital if ST bits > (LineBits + 8); otherwise standard   P 580[0] - ENC_CH3_Info = Encoder Information This parameter is available to the user so that they can enter a text of their ...
  • Page 87 SSI encoder basics and requirements (cyclical) X7" on page 61, as are the differences in using the EnDat interface with the The SSI interface on the MSD Servo Drive has been designed as an actual motor “cyclical” method and “one-time reading” method.
  • Page 88 ENC_CH3_Mode makes it possible to run special SSI encoders that deliver Gray decoding will be selected by default. The other option is to use binary  one or more special bits after the data. In this case, the MSD Servo Drive will not decoding. evaluate these bits – this mode is meant to make it possible to work with SSI  ...
  • Page 89 ENC_CH3_Num   Denominator of channel 3 ENC_CH3_Denom   Numerator of channel 3 6.7.7  Encoder gearing Table 6.27: Parameters for encoder gearing NOTE   Please read the general information on encoder gearing found in  Section "Introduction" on page 52 beforehand. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 90 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.8  Channel 4: Virtual encoder Parameters   P 500[0] - ENC_CH1_ActVal[0].SingleTurn and   P 500[1] - ENC_CH1_ActVal[1].MultiTurn are used, for example, to indicate the current position value at the output for encoder channel Ch1. These parameters can also be used for checking purposes during commissioning.
  • Page 91 Sensorless control: Q-Matrix (epsilon) initialized Q[4,4]   Sensorless control: Q-Matrix (T Last)   ENC_CH4_Kalman_   Sensorless control: Test signal generator Table 6.28: Control word ENC_CH4_Ctrl (P783) 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: 11/2020 6  Encoder...
  • Page 92 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.8.1.1  Auto commutation P No. Index Name Unit Description d-Amplitude sinus SC test signal: d current amplitude of sinusoidal  signal When using sensorless control, auto commutation is required in order to ensure that q-Amplitude sinus SC test signal: q current amplitude of sinusoidal  the motor will not align itself towards a direction in an uncontrolled manner. There...
  • Page 93 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: 11/2020 6  Encoder...
  • Page 94 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 95 (P 351[0] for n_eps and P 339[0] for n_kal). The expanded speed control Kalman filter can determine the position based on the inductance difference in circuit can be started with P 350[0] (“4” => Kalman) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 96 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 97 P 794[1] = 50% of rated motor current P 794[2] = 250 ms Starting the expanded speed control circuit is not absolutely necessary,  but will result in control with better dynamic performance. The circuit can  be started by setting P 350[0] - SEL_ObserverMethod to a value of 4.  P 339 - CON_SCON_Kalman can be used for tuning purposes. If necessary, adjust the noise covariance matrices and the filter time  constants for the expanded speed control circuit (changes will take effect  in real-time). Table 6.30: Configuring the Kalman filter for sensorless control (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 98 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Additional setting parameters 6.8.2.1  Activation of sensorless control for asynchronous motors P No. Index Name Unit Description Proceed as follows:   CON_SCALC_Tf   Speed filter   CON_SCALC_Tf Filter time const. speed control (motor) Activity   CON_SCALC_Tf Filter time const. velocity (hydraulic cyl.)   CON_SCALC_Tf Filter time const. speed from position control. Set motor type (P 450[0] - MOT_Type) to “2 (ASM) = asynchronous ...
  • Page 99 P 792[2] to 200 . . . 500 rpm and P 792[7] to the d current required for starting. If the motor tends to tip, then attempt to limit the permissible slip using P 1959[1] K_ov. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 100 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.9  Redundant encoder 6.10  Axis correction It is possible to set the position difference between the positioning encoder and a The position value delivered by the encoder system and the actual position value on redundant encoder.
  • Page 101 1. encoder selected     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 6.35: Axis correction parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 102 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Position control Step Action Use P 530 - ENC_Encoder1Sel to select the channel for SERCOS: 1st  The direction of movement is produced when the time-related change in position encoder reference (speed pre-control value) has exceeded the amount of the standstill Use P 531 - ENC_Encoder2Sel to select the channel for SERCOS: 2nd ...
  • Page 103 Interpolation smoothing) and 1003. Legend: point distance Interpolation point conter clockwise correction Interpolation point clockwise correction Incorrected Positionvalue (conter-clockwise rotation) Incorrected Positionvalue (clockwise rotation) Image 6.12: Corrected position value MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 104 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.11  Oversampling 6.12  Multi-turn encoder as a single-turn  encoder Encoder signal oversampling optimizes the accuracy of resolver and Sin/Cos signals. This function can only be used, if necessary, for low-track Sin/Cos encoders By way of parameters P 548[0] - ENC_CH1_MTEnable = 1 (for Channel 1) and and resolvers;...
  • Page 105 Zero point: Parameter P 542[0] - ENC_CH1_Lines is used to enter the number  of lines (e.g. 18 x 1000). A sector increment difference of +1, +2, +3 and +4 is  Table 6.38: Example of a rotary system on encoder channel Ch1 ③ supported. One mechanical revolution is precisely one whole multiple of the  basic increment A. Legend for Schematic view of circular graduations with increment-coded reference marks MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 106 6  Encoder MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6.14  Overflow in multi-turn range With this function the multi-turn range can be shifted in order to avoid a possible overflow. The function is available for encoder channels 1 and 3. Example...
  • Page 107 Image 6.16: Zero pulse recording via measurement variable CH1/3_Np NOTE   When in zero pulse test mode, zero pulse evaluation will not be  available during homing.   Regardless of this, all zero pulse events will be counted. The  zero pulses are counted by counter evaluation P 411[31] for  channel 1 and P 411[32] for channel 3 (under ►Actual values  ►All values in the Moog D  5  ) RIVE DMINISTRATOR MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 6  Encoder...
  • Page 108 7.5  Position controller settings 7.6  Asynchronous motor field weakening 7.7  Field weakening and LookUpTable (LUT), synchronous motor 7.8  Synchronous motor auto commutation 7.9  V/Hz mode 7.10  Process controller 7.11  Hydraulic control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 109 Legend for figure Control Structure Position Controller/Feed  7.1.1  Setting see 7.5    P osition controller settings Forward Control When using a standard Moog motor data set, the control parameters are preset for Position controller see 7.5    P osition controller settings the specific motor model (external mass inertia = motor inertia). If using third-party Speed controller see 7.4    S peed controller motors, a manual setting must be made for the drive by way of the motor Digital filter...
  • Page 110 Image 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.  Uncontrolled online switching can cause an extreme jerk, a very  Image 7.3: “Motor control basic settings” screen high speed or an overcurrent, which may cause damage to the  system. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 111 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 (see Useful settings are: Section "Automatic inertia detection"...
  • Page 112 Image 7.4: “Determining the mass inertia” screen must be paid to the mechanical end stops with this function. This  function is only to be used with a freely rotating motor shaft.   NOTE NOTE   If no values are entered for "Hysteresis Speed" and "Hysteresis    In systems with high static friction, the inertia determination can be  Torque", 20% of the rated speed and 20% of the rated torque is  assigned an additional additive speed setpoint. P 404[0] - CON_ set. The distance covered results from the preset values. SCON_AddSRamp can be used for this.   NOTE   While the mass inertia is being determined the motor executes  movements. There is a risk that the system and the motor may be  destroyed. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 113 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 114 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. Image 7.8: Current controller transfer function MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 115 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.3.5  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 for Current controller transfer function 7.3.3  Decoupling The current control has a decoupling of the d- and q-axis by means of feed-forward control of the corresponding coupling voltages.
  • Page 116 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: 11/2020 7  Control...
  • Page 117 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.3.5.1  “Detent torque compensation” parameters table. àrecurring, infinite Table: index = (inpos inc / 2^32 inc) * tabsize, with tabsize = 250 or 4000 - Input reference ‘variable' via delta (**): absolute, 'linear' continuous position: the...
  • Page 118 - F2: Without offset and delta, with tuning, without fader Calculation: (385)CON_TCoggTeachCon=(3)CALC1 Compensation: (382)CON_TCoggComp=(2)APSPOS à big CompTab, access via (440) and (441) (6)TeachEpsM =Teach epsm mechanical angle (shaft) Table 7.3: Settings for teaching, calculating and compensation MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 119 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 (385) (385) CON_TCoggTeachCon CON_TCoggTeachCon (10)TeachPosEncRed Singleturn position from encoder for commution =Teach posact from redundant encoder Actual position from so called redundant encoder - F1: Big teach table (4000)
  • Page 120 The following table shows the procedure for detent torque compensation. calculation function once: P 385[0] - CON_TCoggTeachCon = (3)CALC1 or (8)CALC2.Afterwards,  parameter P 385[0] jumps back to READY(0). Table 7.4: Overall procedure for detent torque compensation     MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 121 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 7.5: Overall procedure for detent torque compensation Image 7.12: After enabling detent torque compensation (with) (please keep the Y axis scaling in mind!) 7.3.5.3.1  Scope recording: speed ‘before' and ‘after'...
  • Page 122 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: 11/2020 7  Control...
  • Page 123 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Action Action Open manual mode window. Stop control Approach start position Save device data. - The position source used by the teaching is also saved here. It will later  Speed control mode control setting (set high rigidity, for smooth running) be used for the compensation once again in exactly the same manner. Set the teaching direction if necessary: P 445[0] - CON_TAB_TeachDir Use the scope to monitor IsqRef_Comp Default: POS(1)= teaching routine in positive direction. Set the offset and delta if necessary using: P 442[0] - CON_TAB_PosStart, default 0 P 443[0] - CON_TAB_PosDelta, default 1000 inc/TabElement = e.g. (endpos inc - startpos inc) / 4000 elements 7.3.5.6  Compensation as a function of mechanical rotation  Set the input tuning if necessary using: (EPMS) P 447[0] - CON_TAB_Tune.TimeDelay, default 0...
  • Page 124 11 Use the scope to monitor IsqRef_Comp - 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. 7.3.5.7  Compensation as a function of the electrical angle  Use the scope to monitor IsqRef_Comp (EPSRS), big table Teaching routine and compensation à 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: 11/2020 7  Control...
  • Page 125 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   Adaptation of torque control / Saturation characteristic (see Section  7.3.5.8  FadeOut function "Adaptation of torque control" on page 125). At higher speeds it usually makes sense to linearly fade the Q-current feed forward   Observer system (see Section "Current observer" on page 127) control of the detent torque compensation using the FadeOut function:  ...
  • Page 126 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: 11/2020 7  Control...
  • Page 127 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 be passed on to the current controller. The disadvantage of the current observer is a Index Name Unit Description possible deviation between actual current and observed current. This can lead to an MOT_Lsig mH Motor leakage inductance (ASM) / stator ...
  • Page 128 DC link voltage α Phase angle Legend for “Circle and hexagon voltages” diagram Index Name Unit Description CON_CCON_VLimit Voltage limit for first current controller CON_CCON_Mode   Select current control / limitation mode Table 7.9: “Advanced torque control - Overmodulation” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 129 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.3.7  Torque control with defined bandwidth P no. Index Name / Setting Unit Function     ENC_OFFSET (1)   Start encoder offset determination (power stage  will be switched on!) The controller gain is determined by activating test signals (Autotuning). The    ...
  • Page 130 P 434.6 enables filtering of the voltage thus set, which reduces noise. Do not set this filter too high, otherwise there will no longer be an increase in bandwidth. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 131 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.4  Speed controller To set these functions, use the test signal generator (not yet described - to do) to apply a sweep signal to the d-current setpoint and record the setpoint and actual values with the scope.
  • Page 132   Scaling filter time constant 2695 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, speed  control CON_IP_RefTF Speed reference filter time constant (SCON  mode) Table 7.12: “Speed controller” parameter MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 133 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.4.1  Advanced speed control Index Name Unit Description CON_SConTS Speed control sampling time 2939 CON_SCON_TorqueTF ms 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  ...
  • Page 134 An appropriate setting of P 336 - CON_SCON_KpScaleSpeedZero reduces this tendency to oscillate. Image 7.24: Quick stop without sensor Image 7.23: Reduction of gain at low speeds. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 135 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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  ...
  • Page 136 Table 7.14: Filter Bode plots Action Scope setting: isq (unfiltered, torque-forming current) Set shortest  sampling time Create scope plot without notch filtering On the oscilloscope click the "Mathematical functions" > FFT (Fourier  analysis) icon. From the following pop-up menu choose isq. Disturbance  frequency is displayed. Select filter Enter middle/limit frequency Width: Enter the bandwidth of the limit frequency; the width has no effect  when using PTx filters Create scope plot with notch filtering Table 7.15: Instructions for FFT signal analysis Image 7.25: “Speed controller - Digital filter” screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 137 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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  ...
  • Page 138 (default 0.125 ms) must be specified. Click the "Start Test Signal" 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 7.18: Instructions for optimization of the speed controller MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 139 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Image 7.29: Speed controller transfer function Green curve = amount  ① Y-axis left = absolute value of nact/ndiff Blue curve = phase response ② Y-axis right = Phase response nact/ndiff Legend for Speed controller transfer function Image 7.28: “Noise amplitude, sampling time” screen...
  • Page 140 In order to improve the dynamism of the position controller, the following screen is provided to optimize the speed and acceleration pre-control. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 141 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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  ...
  • Page 142 CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits CON_SCON_TFricSpeed rpm Friction torque compensation: Speed limits   CON_SCON_TConst %  Friction torque compensation: Constant  (independent of direction) Table 7.22: “Position controller - Feed-forward control” parameters (friction torque compensation extract) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 143 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.6  Asynchronous motor field weakening K*T R P 0343 P 0415 CON_FM_ImagTab P 0415 CON_SCALC_ActSpeed CON_SCALC_ActSpeed P 0340 CON_FM_Imag PD-T -Glied P 0341 = 100 default Up to rated speed the asynchronous motor runs with a full magnetic field and so is...
  • Page 144 The voltage setpoint that needs to be achieved is specified   CON_FM_SpeedTab   Speed values for magnetizing current scaling CON_FM_SpeedTab   using P 347[0] - CON_FM_VRef. CON_FM_SpeedTab   CON_FM_SpeedTab     CON_FM_SpeedTab   CON_FM_SpeedTab   CON_FM_SpeedTab   Table 7.24: “Field-weakening” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 145 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description CON_FM_SpeedTab     CON_FM_FWTabIdx   Table index for field weakening / reluctance  torque utilization CON_FM_SpeedTab   CON_FM_FWTabIdx   Speed index   CON_FM_ImagTab   Magnetizing current scaling vs. speed CON_FM_FWTabIdx   Torque index CON_FM_ImagTab  ...
  • Page 146 Synchronous motors can also be operated above their rated speed at rated voltage by reducing their voltage consumption through the injection of a current component. Features   The method is relatively robust against parameter fluctuations.   The voltage controller can only follow rapid speed and torque changes to a  limited degree.   A non-optimized voltage controller may cause oscillation; the controller must  be optimized. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 147 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Conditions First of all, there are two variants for field weakening with synchronous motors, variants 1 and 2. They can be selected via P 435[0] - CON_FW_FWMode. To effectively reduce the voltage consumption, the ratio of stator inductance P 471[0] - MOT_Lsig multiplied by the rated current P 457[0] - MOT_CNom to rotor flux P 462...
  • Page 148 [0] - CON_FM_SpeedTab). Table 7.27: Example of speeds in P 342 - CON_FM_SpeedTab     CALC (2) = Isd set by PI    Field-weakening is effected by way of a  controller and table  characteristic which is set internally via the  parameter Table 7.28: Parameters for selecting field weakening MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 149 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index 0-7: Motor or classic table, Index Name / Setting Unit Function motor parameters. The d-current reference is  Index 8-15: Regenerative; the speeds are the same in both cases then calculated dependent on the speed AND  the required q-current: isd = f(n, isq_ref).  The selection concerning as of what power the operation mode is “motor-oriented”...
  • Page 150 (id is reduced to 0) (typical for non-salient pole PMSM) is no longer adequate to make use of the machine’s full potential. Consequently, special control structures are implemented in the MSD Servo Drive to ensure optimal control for motors of this nature.
  • Page 151 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   Be calculated internally by the firmware (small table), OR Large table   Be specified externally, for example using a higher-order control (large  The large table has a variable size for the performance map which can be set for a table), OR minimum of [3x3] to a maximum of [128x128] table entries.
  • Page 152 Parameter P 149[0] - MPRO_DRVCOM_Init = START(1). Index Name / Setting Description Unit (*) Map values with negative torques are allowed (large table). P 149 MPRO_DRVCOM_Init 1: Start re-initialization   Table 7.33: P 149, perform re-initialization MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 153 Parameter P 422[0] - CON_FM_FW_TabId - Id in A. available immediately. Table value of the LUT for the q current: A.) Save the parameters, for example via Moog D 5 (MDA5) RIVE DMINISTRATOR...
  • Page 154 (“LookUpTabConverter.exe”). At the end of the preparation process, you will then have the targeted amount of different *.bin files for the process which will run later on. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 155 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 The ‘special command’ for transferring the data of the large table from the For information on the checksum calculation, see also section "CRC algorithm and C controller’s file system to the RAM cells of the large LUT is: functionality"...
  • Page 156 CON_FM_VRef. If the response with voltage controller is unproblematic and no particular demands are made in terms of dynamism, the available torque can be optimized by setting P 347[0] - CON_FM_VRef to values up to 98%. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 157 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name / Setting Unit Description CAUTION! Damage to the device as a result of incorrect operation!     HALLSDIGITAL2 (7)   Digital Hall sensor (alternate process) CON_ICOM_KpScale commutation detection: scaling of control gain Failure to exercise caution or follow proper working  ...
  • Page 158 Scope function. NOTE   Inexperienced users should always choose the rated motor  current (amplitude) as the current and a time of at least 2000 ms.   If the axis is blocked, meaning the rotor is unable to align itself, the  method will not work correctly. As a result, the commutation angle  will be incorrectly defined and the motor may perform uncontrolled  movements.   When calculating the data sets of linear motors the values for time  and current adjust automatically. Image 7.38: “Auto commutation IENCC(1)” screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 159 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.8.2  LHMES(2) method known after the first sequence and the direction of movement after the second. This method is suitable for determining the rotor position with braked rotors or motors with a high mass inertia.
  • Page 160 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 7.37: LHMES configuration example NOTE   It is advisable to connect speed tracking error monitoring with the  "Power stage off" error reaction (see Section "Error reactions" on  page 325). This monitoring feature prevents the motor from racing. Image 7.40: “Auto commutation IECON(4)” screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 161 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 The motor shaft motion can be minimized by a shaft angle controller. The structure and parameters of the speed controller are used for the purpose. The gain can be scaled via P 391[0] - CON_ICOM_KpScale.
  • Page 162 Position     sramp(5) Speed (ramp)     ISQREF(6) q-current reference   d-current q-current    ISDQREF(7)   reference Table 7.38: Parameters of test signal generator for square and sine signal MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 163 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Parameter / Parameter / Function Info Function Info Setting Setting Setpoint voltage feed-   USDQREF(8)   forward control SCD_TSIG_ Amplitude of sine signal  1505   PRCREF(9) Process controller   SCD_TSIG_ 1502 Number of repeat cycles Cycles Frequency of the sine  SCD_TSIG_ SCD_TSIG_ signal (f); Lower ...
  • Page 164 A feedback shift register is used to generate a binary output sequence with an amplitude that can be set in P 1509 - SCD_TSIG_ PRBSAmp and a "random" MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 165 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.8.4.3  Sweep signal 7.9  V/Hz mode Use P 1510 - SCD_TSIG_SignalType = Sweep (2) to generate a sine signal of A simple function test can be carried out in V/Hz mode. This test will show users variable frequency.
  • Page 166 Table 7.40: Scope signals “V/Hz mode (basic)”   Process controller calculation in speed controller cycle     Process controller as PI controller with Kp adaptation     Process controller actual value selectable via selector   Filtering and offset correct of reference and actual values     Process controller output can be connected to different points in the general    control structure   Process controller is usable in all control modes   Cycle time: 125 µs (if the switching frequency is 4 kHz: 250 µs)   The process controller state is changed with a control word   The process controller state is indicated with a status word   The process controller’s integral term can be reduced in a targeted manner  with a control command MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 167 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.10.2  Description of control structure The status word, P 2682[0] - CON_PRC_StatWord, indicates the process controller’s current state. Name Description Process controller active ResetIReady Integral term reset complete Table 7.42: Status word P 2682[0] Image 7.46: Schematic of process controller 7.10.2.1  Control and status word of process controller...
  • Page 168 The process control circuit actual value can be selected via a number of pre-defined actual value sources. P 2668[0] - CON_PRC_ACTSEL can be used to select these actual value sources. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 169 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Setting Name Description Setting Name Description ANA0 Analog input ISA00 (CON_ANA_Isaf[0]) Actual position normalized. Position in user units ANA1 Analog input ISA01 (CON_ANA_Isaf[1]) P 2981 Mappable parameter P-2981 * Fieldbus parameter.  FIELDBUS CON_PRC_ACTVAL_FIELDBUS P  P 2982 Mappable parameter P-2982 * 2677 P 2983 Mappable parameter P-2983 * Current speed (internal) Current speed REFSPEED P 2984...
  • Page 170 In dependence on the index of P 2980 [1…4] used, automatic allocation is then The following parameters cannot be used for mapping. carried out to the parameters P 2981…. P 2984 MPRO_DATA_REAL_1..4. P-2985..2988 MPRO_DATA_DINT_1..4 The following allocation is specified: P-2989..2992 MPRO_DATA_UDINT_1..4 MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 171 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.10.2.4  PI process controller Setting Name Description Deviation P 2675[0] - CON_PRC_CDIFF will be the difference between the scaled No intervention point process controller setpoint and the scaled and filtered actual value. The sign for this REFTORQUE Additive torque reference...
  • Page 172 P 2680[0] [Inc/ms] = 100 [rpm] * P 270[0] [Inc/rev] * 1/60 [min/s*] * 1/1000 [s/ms] 2680 CON_PRC_RateLimiter x/ms Slope limitation (Process) 2680 CON_PRC_RateLimiter x/ms Process controller: rate limiting, reset I- component Table 7.48: “Process controller” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 173 User implement hydraulic system applications. The firmware is available for MSD Servo Table 7.48: “Process controller” parameters (continue) Drive, MSD Single-Axis Servo Drive Compact and MSD Servo Drive Functional Safety. 7.10.5  Scope signals The descriptions in this chapter apply to version V174.30-xx and higher.
  • Page 174 The following physical variables and relationships apply to the hydraulic pump:   ENC_SCon Channel selection for speed control Physical variables   ENC_PCon Channel selection for position control Table 7.50: Parameters for basic setting   Q: Volumetric flow rate   p: differential pressure   n: Speed   M: Torque MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 175 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Pump characteristics and data If you specify eta_(Vol,N), the servo drive will internally calculate k_L automatically as follows:   V_g: Geometric displacement volume (P 2851[0] (ccm/rev))   k_L = V_g ∙ n_N ∙ (1 - eta_(Vol,N) ) ∙ p_N   eta_Vol,N: Volumetric efficiency at the pump’s rating point (P 2851[4] (%)) Theoretical volumetric flow rate Q_th is proportional to the speed:  ...
  • Page 176 The pump’s minimum and maximum speeds can be set in P 2851[4; 5] - HYD_ Pump. The control system will not exceed or fall below the values set there. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 177 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.11.2.2  Pump protection functions Meanwhile, the speed is taken into account linearly, i.e. at half the speed, half the duration will be tolerated. 7.11.2.2.1  P2t shutdown Reason: The speed / the volumetric flow rate proportional to the speed results in a proportional heat removal.
  • Page 178 Using P 2851[14,15]-HYD_Pump, it is possible to configure a Image 7.55: Pressure-dependent speed regulation characteristic minimum and maximum pressure for negative speeds. The minimum and maximum MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 179 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.11.2.3  Gear ratio between pump and pump motor 7.11.3  Signal setting If there is gearing between the pump and the pump motor, the gear ratio needs to be 7.11.3.1  Selection of signal sources entered in P 2851[9] - HYD_Pump. If only the direction of rotation needs to be changed (motor turns in a negative direction when the pump turns in the positive, The signal sources of the actual values can be selected from two analog inputs.
  • Page 180 2840 pMaxSrc   Maximum pressure source selector selected with P 2840 - HYD_Cfg. A variety of signal sources can be set for the Table 7.52: “Selection of signal sources” parameters following variables: MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 181 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.11.3.2  Signal scaling Index Name / Setting Unit Description     0: PressCon   Max. pressure value from HYD_PressCon_pMax 7.11.3.2.1  Signal scaling, pressure     1: Pos_pRef   Max. pressure value from HYD_Val_pRef     2:Neg_pRef   Max. negative pressure value from HYD_Val_pRef 2840 QMinSrc   Minimum flow rate source selector  ...
  • Page 182 (QAct_Min and QAct_Max) can be set. The result after the scaling will be shown in P 2847 - HYD_Val. These values will also be used for control purposes. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 183 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 The individual parameters for configuring the signals are shown in the following Index Name Unit Description table. 2846 nRef_Offset 1/min Offset 2846 nRef_Min 1/min Min Index Name Unit Description...
  • Page 184 P/Q coordinate system. (Bit 12 = Q1, bit 13 = Q2, bit 14 = Q3, bit 15 = Q4). the minimum permissible reference value of the pressure control to be limited. If MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 185 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Q [l/min] NOTE   The limitation controllers are not active in all control modes. The  following table shows which limitations can be configured for  which control mode.   Section 7.11.6    H ydraulic Motion profile describes for which  control modes the scaling factor can be used. p [bar] Pressure Control mode Volumetric flow rate limit limit NPumpCon(4)     PressCon(0) VolCon(5)  ...
  • Page 186 (QMaxSrc). P 2847[3] - QRef can be used to specify the limit via the volumetric flow rate value, which, for example, can be set variably using an analog input. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 187 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description 2840 pMinSrc   Minimum pressure source selector 2840 pMaxSrc   Maximum pressure source selector 2840 QMinSrc   Minimum flow rate source selector 2840 QMaxSrc   Maximum flow rate source selector 2840 QActCalc   Flow rate calculation method 2840 QLeakEst   Flow rate leakage estimation method...
  • Page 188 The parameters which must be set are P 2852[0] - cylArea1 and P 2852[2] - cylArea2. Cylinder piston surface area A1 = cylAreal1 = A1 in cm² Cylinder ring surface area A2 = cylAreal2 = A2 in cm² MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 189 Table 7.57: Parameters – Pressure control parameters (continue) configuration” screen). If the pump can be operated in both  directions of rotation, this is not necessary. Since in MSD Servo Drive all encoder input variables are calculated in revolutions, the hydraulics require a relationship between linear and rotary motion for the internal calculations of the cylinder model, cylinder speed and feed-forward control variables.
  • Page 190 The parameter P 2840[11] -CylValveSwSel can be used to set various different switching condition of the motion block table. modes for controlling the actuating valves. Valve switching can be performed automatically via the POS(3) mode depending on the position difference or be MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 191 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 For communication with a higher-level controller in the CTRL1 and CTRL2 operating Index Name Unit Description modes, some scaling factors of process variables and control parameters are 2862 HYD_OpMode  ...
  • Page 192 Pressure limitation in Q2 inactive ValveOpt1; Valve switch option 1 Pressure limitation in Q3 inactive ValveOpt2; Valve switch option 2 Pressure limitation in Q4 inactive InWindow; Setpoint window reached Table 7.61: Hydraulic control word:What the bits mean 14 - 15 unused Table 7.63: Hydraulic status word: What the bits mean, expand the table MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 193 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7.11.6.3  Hydraulic motion block table Index Name Unit Description 2842 HYD_State   Hydraulic: Status of the control functions The motion block table contains 16 motion blocks which can be parametrized (Index Table 7.64: “Hydraulic - Status word” parameters 0 to 15).
  • Page 194 Reserved   Table 7.68: “Hydraulic - Reference value” parameters Extend the hydraulic valve cylinder Retract the hydraulic valve cylinder 1st reference value derivative Opt1 Valve option 1 Table 7.71: Control parameters table Rise time/speed of the setpoint MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 195 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Designation Meaning Control mode Pressure limit Volumetric flow rate limit Opt2 Valve option 2 - SpdCon_nFF     PosCon2 Selection for second position-controller setting P 2871 HYD_PosConAdv2 PosCon(3)     Reserved   - PosCon_QFF     PumpSet2 Selection for second pump data set P 2873 HYD_Pump2...
  • Page 196 This Comparison value for the transition switching condition (ConAddr) compressibility will decrease as the pressure increases, i.e. less fluid needs to be MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 197 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 pumped for the same pressure change. Accordingly, the pressure controller’s gain needs to be reduced at higher pressures in order to maintain a constant pressure control circuit dynamic performance. Because of this, pressure-dependent controller gain scaling has also been incorporated.
  • Page 198 QRefInput can be converted to an equivalent motor setpoint speed nRefPump 2850 Rate time using the displacement volume and QLeak can be disregarded during the process. 2850 Integral-action time Table 7.80: “Hydraulic - pressure control” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 199 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 If there are stricter requirements concerning the volumetric flow rate accuracy, QLeak must be taken into account as a function of pressure and nRefPump must be increased accordingly.
  • Page 200 P 2860 - HYD_TabConMode. This provides the same functions but is not linked to the pressure control. Moreover, the pressure regulator does not need to be parametrized for this control mode. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 201 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description 2850 Integral-action time 2850 pMin Minimum permissible pressure 2850 pMax Maximum permissible pressure 2850 QMin l/min Minimum flow rate 2850 QMax l/min Maximum flow rate 2850 PressWindow Pressure control parameters 2850 decmpLvl Level for active decompression...
  • Page 202 PI controller. In order to take the different cylinder volumes for the ring and piston sides of the cylinder into account, two scaling factors MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 203 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 (P 2852.10 KpScale, P 2852.11 KpScaleNeg) for the positive and negative cylinder Index Name Unit Description directions can be used to influence the gain of the controller. KpScaleNeg becomes 2850 Integration time constant...
  • Page 204 P 2872 - thus be operated by means of feed forward control and  HYD_TabLimit can be used to adapt the pressure limitation for each motion block. P controller. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 205 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Image 7.76: “Hydraulic - position control” screen PosCon(1) Image 7.75: “Hydraulic - position control” screen PosCon_pLimit(2) Position control with tracking error switchover: Position control without volumetric flow control:...
  • Page 206 If no readjustment of the position is desired, it is Image 7.79: Position window and position hysteresis also possible to define a hysteresis in addition to the position window (P 2870.6 MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 207 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description 2848   HYD_PosCon   Position Controller Parameters 2848 1/min Gain of position controller 2848 Position control integration time constant 2848 Speed feedforward scaling 2848 PosDiffMax Position tracking error monitoring Table 7.84: “Hydraulic - position control” parameters 7.11.11  Digital filter Hydraulics For special applications the hydraulics firmware has two biquad filters connected in series with different input and output variables.
  • Page 208 2876 Source (input filter 1)   Selector of input to filter 1  “Hydraulic profile” in the hydraulic basic settings. OFF (0) = no effect on control  PressAct (1) = actual pressure value in bar  cyl_nACT (2) = cylinder speed in rpm  CylSpeedAct (3) = cylinder speed in mm/s 2876 Sink (output filter 2)   Selector to output from filter 2  OFF (0) = no effect on control  nFF (1) = Additive speed setpoint in rpm  VolFF (2) = Additive volumentric flow rate setpoint in  Table 7.86: Parameter P 2876 HYD_AdvFilSel MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 209 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Image 7.81: “Hydraulic basic settings” screen Index Name Value Unit Description Type CON_CfgCon TCON (1)   Select control mode uint16 MPRO_CTRL_SEL DS402 (5)   Motion profile: selection uint16 Image 7.82: “Pump settings” screen MPRO_REF_SEL HYDRAULIC ...
  • Page 210 Table 7.89: Pump data settings (continue) In this example, the actual pressure values will be evaluated using analog inputs ISA00 and ISA01. Image 7.83: “Standard analog inputs” screen Image 7.84: Signal settings screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 211 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Value Unit Description Type Index Name Value Unit Description Type 2840   HYD_Cfg     Configure Hydraulic System Control     2850   HYD_PressCon     Hydraulics: Pressure regulation     ...
  • Page 212   pAct_Max float32     pAct2_Scale 1000 Scaling  float32     pAct2_Offset -5.9 Offset float32     pAct2_Min float32     pAct2_Max float32   Table 7.93: Scaling settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 213 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Value Unit Description Type 2841 HYD_Ctrl 0000000000100000b   Hydraulic: system control uint16 2842 HYD_State 0000000000000000b   Hydraulic: Status of the control  uint16 functions Table 7.95: Control and status Word Reference values, ramp and valve settings can now be made in the motion block table.
  • Page 214 This example shows which parameters must be set in order to control the position and speed of a hydraulic cylinder with a linear encoder. The motor and encoder must be parametrised before the hydraulic control settings can be made. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 215 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Value Unit Description 2851 TCritical Max. permissible time at low speed and  nominal pressure 2851 iGearPump Gear ratio between pump and motor 2851 Max. permissible stationary pressure at a  standstill Table 7.99: Pump data settings (continue) The position and speed actual values are evaluated via the encoder inputs for position and speed.
  • Page 216 “Cyclic position via” and the absolute value interface of the ENC_CH1_MTBase   Minimum MultiTurn position (SSI absolute  respective encoder. 2147483648 encoder) ENC_CH1_MTEnable   Channel 1: Multi-turn as single-turn Table 7.100: SSI encoder settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 217 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Value Unit Description ENC_CH1_Position 4909 Channel 1: Position ENC_CH1_CycleCount 8   Channel 1: Position encoder sampling cycle  (n x 125  µ s) ENC_CH1_   Channel 1: Mode of absolute value  AbsInitMode initialization Table 7.100: SSI encoder settings (continue) The scaling of the units is performed in the motion profile of the standard motor control.
  • Page 218 CylValueSwSel, meaning that the valve positions must be specified for the index and the subsequent motion block can now be set in the motion block table. respective table index in the motion block table (P 2863 - Hyd_TabCtrl). MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 219 7  Control MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description 2857   HYD_Ref     2857 0..15 HYD_Ref   Hydraulic: Setpoint for volumetric flow  rate/pressure/speed/position Table 7.104: “Hydraulic - Reference value” parameters 1st reference value derivative Index Name...
  • Page 220 Table 7.111: Parameter “Hydraulic table state” Hydraulic: Optional comparison value Index Name Unit Description 2868   HYD_TabCondVal     2868 0. . 15 HYD_TabCondVal   Hydraulic table comparison state Table 7.112: Parameter “Hydraulic table comparison state” MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 7  Control...
  • Page 221 8.4  Stop ramps 8.5  Homing 8.6  Jog mode 8.7  Reference table 8.8  Analog channel (ISA00 und 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: 11/2020 8  Motion profile...
  • Page 222 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.1  Settings  Scaling profile   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 223 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: 11/2020 8  Motion profile...
  • Page 224 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.2.1  Standard/CiA 402 Image 8.3: “Standardization profile - Standard/CiA 402 - Units” screen Image 8.4: “Standardization profile - Standard/CiA 402 - Direction of rotation” screen NOTE Referred to the motor, the positive direction is clockwise as seen when looking at the  ...
  • Page 225 A total of 32 bits are available. In the default setting, 20 of the bits are used for the single-turn position. Image 8.5: “Standardization profile - Standard/CiA 402 - Feed/gearing/resolution/process format” screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 226 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 227 0°. The same applies to the negative direction. On reaching 0° the actual position is set to 360°.   Image 8.9: “‘Clockwise rotation’ process option” screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 228 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.2.1.3  Process option “Path - optimized” 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 229 The method of weighting is defined by the parameters 10085 COM_SER_   Torque polarity parameter for position, speed, force/ torque and acceleration weighting. Table 8.5: “Standardization / units - SERCOS” parameter MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 230 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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_  ...
  • Page 231 (looking at the motor between linear (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: 11/2020 8  Motion profile...
  • Page 232 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.2.2.2  Speed Rotary weighting Unit Weighting factor Preferential weighting (LSB) Degrees 3,600,000 0.0001 µm Table 8.7: Weighting for rotary motion (default setting) Image 8.14: “Standardization profile - SERCOS - Speed (1)” screen...
  • Page 233 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: 11/2020 8  Motion profile...
  • Page 234 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.2.2.3  Unit of torque/power Rotary weighting Preferential weighting Unit Weighting factor (LSB) Degrees 3,600,000 0.001 m/min Table 8.9: Weighting for rotary motion (default setting) Image 8.17: “Standardization profile - SERCOS torque/power(1)” screen...
  • Page 235 Table 8.10: Weighting for linear motion (default setting) Torque polarity The polarity of the torque can be inverted according to the application. A positive torque reference indicates clockwise rotation (looking at the motor shaft). MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 236 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.2.2.4  Unit of acceleration Rotary weighting Preferential Parameter weighting Weighting weighting Unit factor (LSB) (LSB) LSB = Unit *  0.01 Nm Exponent Table 8.11: Weighting for rotary motion (default setting) Image 8.20: “Standardization profile - SERCOS - Acceleration(1)” screen...
  • Page 237 Image 8.22: Acceleration weighting made 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: 11/2020 8  Motion profile...
  • Page 238 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Rotary weighting Unit Weighting factor Factory setting (LSB) rad/s 3,600,000 Table 8.13: Weighting for rotary motion (default setting) 8.2.2.5  Modulo weighting If Modulo (indexing table application) is to be selected (see Section "“As linear”...
  • Page 239 Acceleration in [rpm/s] Speed factor 1[rpm] SpeedFac   Positioning in [°degrees] 1/60 = 0.01667  MPRO_FG_AccFac Acceleration factor Given [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: 11/2020 8  Motion profile...
  • Page 240 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Standard Standard 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  MPRO_FG_ mm/s, 1/32 mm = ...
  • Page 241 Table 8.17: “Motion profile - Basic settings” parameters Interpolation See Section "Interpolation" on page 246. 8.3.1  PG mode with speed control NOTE   Select reference source   The reference filters are initialized only after the control has been    Motion profile adaptation: scaling, ramps and smoothing time. re-enabled or by a device restart.   In reference processing by way of the profile generator the fine interpolator is  always in use.  MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 242 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Image 8.25: Profile mode speed control Profile Generator with speed control:   Control mode P 300[0] - CON_CfgCon = speed control Image 8.26: Speed control in PG mode, smoothing   Under Profile select the profile generator (PG) P 301[0] - CON_Ref_Mode = ...
  • Page 243 In IP (Interpolation) mode the appropriate reference source and correct scaling of units are selected for the speed reference before the reference is passed via the interpolator to the control. Linear interpolation is always applied in this process. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 244 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Referencevalue P 0165 -OFF (0) Interpolation -ANA0 (1) IP-Mode Normalization Referencevalue -ANA0 (2) Referencevalue Userunit -Tab (3) Increments Referencevalue Lineare -DS402 Speed control -leer (4) Interpolation -SERCOS...
  • Page 245 The acceleration and braking ramp = 0, so the jerk is maximum (red curve). The acceleration and braking ramp with preset smoothing time (smoothing time = 2000 ms, red curve) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 246 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 247 Image 8.35: Interpolation polynomial, 7th degree     SplineExtFF(2)   Interpolation with external pre-control: Only on request from   M oog. Table 8.18: Interpolation types MSD Servo Drive Image 8.36: Cubic spline interpolation MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 248 Image 8.37: “Stop ramps” screen The interpolation formula corresponds to a  Fourier trend of the unknown interpolants. Table 8.18: Interpolation types MSD Servo Drive (continue) Each reference source has its own acceleration and braking ramps. There are also the stop ramps (quick-stop ramp), according to the .CiA 402 standard. The ramp functions are only effective in certain system states.
  • Page 249 2220 0 MPRO_402_DisableOpOC   605CH DS402 disable operation option code 2221 0 MPRO_402_HaltOC   605DH DS402 halt option code 2222 0 MPRO_402_FaultReactionOC   605EH DS402 fault reaction option code 2242 0 MPRO_402_QuickStopDec rev/min/s 6085H DS402 quickstop deceleration Table 8.19: “Motion profile - Stop ramps” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 250 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 NOTE   The reference mark signal can be optionally linked to one of the ISD05 and ISD06 fast digital inputs. 8.5.1.1  Homing to a limit switch: The digital input must be set to the available selection parameter LCW(5) for a positive limit switch or to LCCW(6) for a negative limit switch.
  • Page 251 Method (-13) is significantly easier to use, as it eliminates the need to determine the encoder’s absolute position at the machine zero point and back-calculate the actual position. Image 8.39: Set the machine homing point MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 252 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.5.3  Method (-12): Set absolute position (absolute meas- 8.5.4  Method (-10) and Method (-11): Move to block with  uring system) zero pulse To set the machine homing point, the rotor or the linear axis is moved to the machine Tracking error monitoring is switched off during the homing procedure.
  • Page 253 When the block is detected, the system disengages by half the value in parameter P 0169 MPRO_REF_HOMING_MaxDistance) and the zero point is defined. An offset can be programmed in the screen. Image 8.43: Approach block, direction right MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 254 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.5.5.2  Method (-9): Leftward direction of travel 8.5.6  Method (-7) to (0) With P 0169 MPRO_REF_HOMING_MaxDistance the tracking error is specified in 8.5.6.1  Homing method for increment-coded encoders the positioning range in which the block is detected. When the block is detected, the system disengages by half the value in parameter  ...
  • Page 255 Image 8.46: Positive limit switch and zero pulse   First zero pulse after falling limit switch edge corresponds to zero/reference  point. Image 8.45: Negative limit switch and zero pulse 8.5.7.2  Method 2: Positive limit switch and zero pulse   Start movement right; at this time the hardware limit switch is inactive.   The direction of movement reverses on an active hardware limit switch edge.   First zero pulse after falling limit switch edge corresponds to zero/reference  point. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 256 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.5.8  Method (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  time the reference mark is inactive. Image 8.48: Start condition for negative limit switch   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. Image 8.47: Start condition for positive limit switch 8.5.8.2  Method 4: Start movement in direction of negative (left) ...
  • Page 257 Image 8.50: Negative (left) hardware limit switch and zero pulse   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. Image 8.49: Positive (right) hardware limit switch and zero pulse 8.5.9.2  Method 5: Start movement in direction of 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: 11/2020 8  Motion profile...
  • Page 258 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.5.10  Method (7) to (10): 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  Image 8.52: Zero point corresponds to first zero pulse point corresponds to the first zero pulse after the falling edge.   The start movement is in the direction of the negative, left hardware limit  8.5.10.3  Method (9): switch. The homing point is set at the first zero pulse after a falling edge from  the reference mark.   The direction of movement changes when the reference mark becomes    The first zero pulse after passing the reference mark is the zero point.
  • Page 259 Image 8.54: Zero pulse after falling edge corresponds to the zero point. Image 8.55: Reversal of direction of movement after active reference mark 8.5.11.2  Method (12)   Zero point corresponds to the first zero pulse if the reference mark is active.   Reversal of direction of movement after a falling edge from the reference  mark. The zero point corresponds to the first zero pulse after a rising edge  from the reference mark.   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. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 260 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   The zero point corresponds to the first zero pulse after the reference mark’s  falling edge.   Reversal of direction of movement after active reference mark. The zero point  corresponds to the first zero pulse after the falling edge. Image 8.56: Zero point corresponds to first zero pulse. 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. Image 8.58: Zero point corresponds to first zero pulse after...
  • Page 261 The determination of the homing point is independent of the zero pulse. It only depends on the reference mark or on the limit switches. Image 8.59: Homing methods 17 to 30 are equivalent to methods 1 to 14 MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 262 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.5.14  Methods (31) and (32) Method 1 corresponds to  method 17 These two homing methods are not defined. Method 20 corresponds to  method 4 The determination of the homing point is  Method 8 corresponds to  independent of the zero pulse. It only depends on  method 24 the reference mark or on the limit switches. Method 12 corresponds to  method 28 Method 14 corresponds to  method 30 Table 8.21: Method comparison of the individual homing methods...
  • Page 263 Image 8.62: The actual position corresponds to the homing point Image 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. Image 8.61: Homing with zero pulse MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 264 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   Fast jog 8.6  Jog mode Both digital inputs must be active (corresponding bits in bus mode)   Fast jog, leftward direction of travel  Input "Jog left" and then also enable input two   Fast jog, rightward direction of travel: Input "Jog right" and then also enable input two 8.6.2  Digital Inputs Image 8.63: “Jog speeds” screen Jog mode (setup mode) is used to record (teach-in) positions, for disengaging in the event of a fault, or for maintenance procedures.
  • Page 265 The setpoints need to be provided in the distance units defined by the user (for details on how distance units are defined, see Section "Scaling / Units" on page 223). Image 8.65: "Jog mode" window MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 266 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Control mode   AUTO_COMPLETE (4) = via auto complete mode (parameter no. 204) As with "AUTO (2)", as long as the input is set, the table will be executed.
  • Page 267 P 199 - MPRO_TAB_PAcc (for position control) and indexes 0–15, the accelerations for moving to the setpoint for each individual motion task can be defined. The input must not be zero. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 268 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Deceleration Activation Setting Function With ... Enable a selected driving set.   P 194 - MPRO_TAB_TDec (for torque control) or The selection of a new motion task Actuation via  Input ISDxx =  digital inputs TBEN  ...
  • Page 269 MPRO_TAB_WaitTime ms   1 -15 MPRO_TAB_WaitTime ms   MPRO_TAB_Mode   TAB mode MPRO_Tab_MaxIdx   TAB: Max index in AUTO mode MPRO_TAB_ActIdx   TAB: Actual index   MPRO_TAB_OutputNo   OSD TAB: actual table index and target  Table 8.24: “Setpoint table settings” parameters (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 270 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.8  Analog channel (ISA00 und ISA01) Offset (O) This parameter (P 174 - MPRO_ANA0_SOffset for ISA00, P 184 - MPRO_ANA1_ SOffset for ISA01) compensates for component variations and is used for offset compensation purposes. Depending on the control mode being used (see Section "Basic settings"...
  • Page 271 For details see Section "Wire Break Monitoring" on page 306. Analog chanel Scale Filter Offset Pro le generator Control Control Image 8.69: Reference processing structure MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 272 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description   CON_ANA_Isaf_Scaled   "Analog inputs: Values (filt, norm, comp, scaled)" MPRO_ANA0_SOffset rev/min ANA0:offsets for speed reference ISA00   "Scaled, compensated, filtered, normalized  MPRO_ANA0_POffset mDegree ANA0:offsets for position reference value"   MPRO_ANA0_Threshold   ANA0: thresholds ISA01  ...
  • Page 273 Display System state Table 8.27: “Analog channel ISA01” parameters (continue) Initialization on device startup Not ready (DC link voltage possibly too low) Start inhibit (DC link voltage present, power stage off) Starting lockout Ready for start Control initialization: Auto commutation, flux build-up etc. Table 8.28: Central state machine according to CiA 402 device display MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 274 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 power disabled fault Display System state fault Start Control enabled reaction active not ready fault Quick stop active to switch on switch on Error reaction active disabled Error state (in this state the error is indicated directly on the  ready to display.) switch on power enabled Device is reset (display flashes)
  • Page 275         ENCPOS_CH2 (5) = Encoder position  MPRO_TP_Ctrl     Channel 2 MPRO_TP_Ctrl           ENCPOS_CH2_INC (6) = Encoder position    MPRO_TP_Position   Probe: Pos. high/low edge of TP0/1,  Channel 2 in increments encoder zero pulse Table 8.29: “Touch probe” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 276 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.11  Synchronized motion Index Name / Setting Unit Description       ENCPOS_CH3 (7) = Encoder position  Channel 3 The Synchronized Movement function enables synchronous running of the drive in       ENCPOS_CH3_INC (8) = Encoder position ...
  • Page 277 MasterRef 1309 MPRO_ECAM_CI_   ECAM: CamIn - Slave reference SlaveRef 1310 MPRO_ECAM_CI_   ECAM: CamIn - Coupling mode CouplingMode 1311 MPRO_ECAM_CI_ incr ECAM: CamIn - Coupling distance CouplingDist 1312 MPRO_ECAM_CI_ incr ECAM: CamIn - Synchronization position  Table 8.32: “Electronic camming - Synchronization” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 278 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description SyncPosST (singleturn part) 1337 0 to  MPRO_ECAM_SegData_   ECAM: Segment mode of the current segment SegmentMode 1313 MPRO_ECAM_CO_   ECAM: CamOut - Slave reference SlaveRef 1338 0 to  MPRO_ECAM_SegData_   ECAM: Indicator for pool of constants, current  ConstPool...
  • Page 279 Master calculation is active Start Ecam MCB_CamIn Table 8.36: ECAM status word (P 1326[0] - MPRO_ECAM_StatusWord) Stop Ecam MCB_CamOut Start Egear MCB_GearIn Stop Egear MCB_GearOut Table 8.35: Control word ECAM (P 1318[0] - MPRO_ECAM_ControlWord) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 280 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 the master encoder, you will need to set the resolution relative to a single  8.11.4  Master configuration motor revolution in P 250 - MPRO_ECAM_PARAMaster_Amplitude (see  below).   ENC CH1 (3) = Encoder channel 1 X7 (Sin/Cos)   ENC CH2 (4) = Encoder channel 2 X6 (Resolver)  ...
  • Page 281 ACTIVE WAY COMP (1) = Reverse lock active - with way compensation    While the slave accelerates to the speed of the master during engagement,  the master and slave do not move synchronously. This function needs to be    Master (black line) rotates in the blocked direction selected in order to quickly catch up to the master that is running ahead.   The slave (blue line) remains stopped   Master rotates in the unblocked direction again   The slave follows the master directly in the unblocked direction .  Example:  Assume the master has moved two motor revolutions in the direction for    Master (black line) rotates in the blocked direction which the slave lock is enabled. If the master now moves in the direction for    The slave (blue line) will remain stopped which there is no lock, the slave will immediately start running in that  direction.   Master rotates in the unblocked direction MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 282 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Filter type Index Name Unit Description 1319 MPRO_ECAM_   ECAM / EGEAR: Channel selection of internal  When using a real master encoder, encoder signals may be subject to noise. P 1340 CamMaster_AxisType master input [0] - MPRO_ECAM_CamMaster_SpeedFilTyp can be used to select a filter type in...
  • Page 283 MPRO_ECAM_Egear_   EGEAR: Numerator of gear ratio GearNum 1344 MPRO_ECAM_Egear_ rpm/s EGEAR: Acceleration limit for reference LimRefAcc 1345 MPRO_ECAM_Egear_ rpm/s^2 EGEAR: Jerk limit for reference LimRefJerk Table 8.38: “Synchronized motion - Electronic gearing” parameters Image 8.73: "Electronic gearing" screen MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 284 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 used to define the engagement distance (between the dashed lines). 8.11.6  Engagement P 253[0] - MPRO_ECAM_Egear_GearInMode is used to define the mode for engagement.   DIRECT (0) = Direct  Direct engagement: Angular synchronous; with jerking (no ramps).   CROSSFADE (3) = Crossfading  Engagement with crossfading function (5th degree polynomial): Angular  synchronous; jerk-limited; speed will overshoot during engagement.  ...
  • Page 285 RAMP (1) = Linear speed ramp  P 258[0] - MPRO_ECAM_Egear_GearOutDist is used to define the disengagement Disengagement with linear deceleration: With jerking. P 256[0] (see below)  distance. The actual disengagement occurs within this range (between the dashed lines). MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 286 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.12  Virtual Master Index Name Unit Description MPRO_ECAM_Egear_   EGEAR: GearOut - disengagement mode GearOutMode MPRO_ECAM_Egear_ rev/min/s EGEAR: GearOut - deceleration ramp for  GearOutDec disengagement MPRO_ECAM_Egear_ incr EGEAR: GearOut - disengagement distance GearOutDist MPRO_ECAM_Egear_ rpm/s^2 EGEAR: GearOut - acceleration ramp jerk for  GearOutJerk disengagement Table 8.40: “Synchronized motion - Electronic gearing - Disengagement” para- meters Image 8.74: "Virtual master"...
  • Page 287 Position phasing difference 1410 Velocity Position phasing velocity 1410 Acceleration rpm/s Position phasing acceleration 1411   MPRO_CMST_ActVal   Actual values of common master 1411 PosST incr Position singleturn part 1411 PosMT Position multiturn part 1411 Velocity Table 8.42: "Common master” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8  Motion profile...
  • Page 288 8  Motion profile MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 8.14  Cam group (CAM switch) 8.15  Data handling The function is not available as standard. It must be specially requested. Please Index Name Unit Description contact Moog. 2920 MPRO_DATA_Ctrl   Extended data control word 2921 MPRO_DATA_Stat  ...
  • Page 289 The buttons on this screen can be used to access and configure the individual input 9.2  Digital inputs and output types. 9.3  Digital Outputs Inputs 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 only for MSD Servo Drive)   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.
  • Page 290 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9.2  Digital inputs Outputs   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. Image 9.2: “Function selectors of the digital inputs” screen...
  • Page 291 If it is, this button can be used to switch to a different screen MPRO_INPUT_FILTER for IED02 Table 9.1: “Digital standard inputs” parameters directly and define the function’s exact behaviour there. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9  Inputs/Outputs settings...
  • Page 292 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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_FIL  ...
  • Page 293 P 144[0] - MPRO_DRVCOM_AUTO_START = "ON" autostart mode is activated     LOCK_NEG (39)   Lock negative direction: Reversing lock,  (only in MSD Servo Drive). With "STO active" activating the "ENPO" is sufficient to negative direction (access also via MSD PLC ). start control of the drive. When the "ENPO" is cancelled the drive runs down     BRAKE_ON (40)  ...
  • Page 294 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 295 When a digital input set to "MAN(14)" is activated, the control location P 159[0] - P No. Index P Name / Setting Unit Function MPRO_REF_SEL = "TERM" switches (switch to "TERM" is not displayed in the Moog     ANA2(13)  ...
  • Page 296 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 The setting can be made in the dialog box I/O configuration -> Dig. inputs.   Command System state Set ISD05 and ISD06 to ENC(29) = Encoder (pulse count / pulse direction on ISD05, ①...
  • Page 297 Enable the function with “Start E-Gear.” Selection options: NOTE TP0(6) = Pulse counter on probe channel 1 (TP0) TP1(7) = Pulse counter on probe channel 1 (TP1)   The signals ISD06 and ISD05 are HTL signals, which is why the  voltage level must be greater than 20 V. The frequency must not  be higher than 300 kHz.   MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9  Inputs/Outputs settings...
  • Page 298 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9.3  Digital Outputs Index Name Unit Description MPRO_OUTPUT_FS_OSD00   Function of digital output OSD00 MPRO_OUTPUT_FS_OSD01   Function of digital output OSD01 MPRO_OUTPUT_FS_OSD02   Function of digital output OSD02 MPRO_OUTPUT_INV   Output inv. OSD0-2(0-2),MBRK(6),REL1/2 (7/15),OED0-7(16-23) Table 9.7: “Digital standard outputs” parameters 9.3.2  Function selectors Index Name / Setting...
  • Page 299     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 Table 9.8: “Digital outputs” function selectors (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9  Inputs/Outputs settings...
  • Page 300 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   Depending on the configured function, the “Options...” button may become  Index Name / Setting Unit Description enabled. If it is, this button can be used to switch to a different screen directly      (71)   Not defined and define the function’s exact behaviour there.     (72)   Not defined     (73)   Not defined   The relay output can be switched from “active-high” to “active-low” (bit 8 in ...
  • Page 301 Speed control Limit value monitoring becomes active when the speed reference value exceeds the maximum speed (see Section "Limitations / Thresholds" on page 310). MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9  Inputs/Outputs settings...
  • Page 302 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Positioning NOTE   Additional times for the typical contact chatter on a contactor must  Limit value monitoring becomes active when the speed reference exceeds the be taken into account when specifying the time for timer P 148[0] - maximum speed or the torque reference exceeds the maximum torque (see Section MPRO_DRVCOM_ENMO_Time. They may be several hundred ...
  • Page 303 (P 405[0] - CON_ANA_Filt0 and P 406[0] - CON_ANA_Filt1).   CON_ANA_Offset   Analog inputs: Offset ISA00 Voltage offset for input ISA00   P 427[0] - CON_ANA_CalibZero can be used to trigger a zero correction  ISA01 Voltage offset for input ISA01 routine for both analog inputs. If you use this routine, there must not be any    CON_ANA_Gain   Analog inputs: Gain scaling voltage at the inputs. Table 9.11: “Analog inputs” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9  Inputs/Outputs settings...
  • Page 304 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name / Setting Unit Description ISA00_gain   Gain scaling for input ISA00     REFV (-2)   Analog reference ISA01_gain   Gain scaling for input ISA01     (-1)   Not defined ISA00_limMin  ...
  • Page 305 “Options...” button to configure additional    = -10 V, Out  = 0 V process variables such as “the backlash in rev/min” (when using an analog setpoint, REFV).    = +10 V, OUT  = +10 V Usage examples MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9  Inputs/Outputs settings...
  • Page 306 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9.4.5  Wire Break Monitoring   Calculations are   and  P 399 - CON_ANA_WireBrk_Th is used to define the wire break monitoring threshold (in V) (parameter index [0] for ISA00, parameter index [1] for ISA01). If the  ...
  • Page 307 Image 9.14: “Function selection of optional analog outputs (option)” screen   The technology option “CANopen + 2AO” is not available for  MSD Single-Axis Servo Drive Compact. If your MSD Servo Drive features the "CANopen + 2AO" technology option, you will have two analog outputs available, enabling you to output values from the controller   To determine whether your MSD Servo Drive comes with the ...
  • Page 308 9  Inputs/Outputs settings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 9.6  Motor brake output P 748[0] - MON_MotorBrkGuard can be used to activate a monitoring mechanism at the motor brake output that will monitor both wire breaks and current. The brake function can also be used in the other digital outputs, though without current and wire break monitoring.
  • Page 309 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: 11/2020 9  Inputs/Outputs settings...
  • Page 310 100% of the ratings. 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: 11/2020 10  Limitations / Thresholds...
  • Page 311 10  Limitations / Thresholds MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   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 313) 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  ...
  • Page 312 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: 11/2020 10  Limitations / Thresholds...
  • Page 313 10  Limitations / Thresholds MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 10.5  Power stage Index Name Unit Description MPRO_REF_   Target reached option code TargetReachedOpC   If the value for the DC link voltage exceeds the value set in parameter P 747 MON_UsrPosDiffMax mDegree Position difference threshold [0] - MON_PF_OnLimit, error ERR-34 "Power failure detected" is reported  2235   MPRO_402_   607DH DS402 software position limit (SW  and the parameterized error reaction is triggered (see Section "Error  SoftwarePosLimit limit switch) reactions" on page 325).
  • Page 314 730 - MON_WarningLevel (see Section "Warning thresholds" on  page 323). Contents 11.1  Warning status 11.2  Alarms and 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: 11/2020 11  Alarms & warnings...
  • Page 315 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 Image 11.1: Warning status window (15) Reserved for SERCOS...
  • Page 316   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 state of the Servo Drive  at the time the current error occurred, e.g. current, voltage, speed,  temperatures. Image 11.2: Status word P 34[0] visual representation MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 317 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020   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 - File   Source / File ErrorStack and P 70 - ErrorStackExt can also be displayed as tables (see  Cause  ...
  • Page 318 File   Source / File CommentId   Additional comment (id) Cause   Error cause CommentText   Additional comment (text) Remedy   Error remedy Line   Line of error occurrence Table 11.3: “Alarms & warnings (Details)” parameters (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 319 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description File   Source / File CommentId   Additional comment (id) Cause   Error cause CommentText   Additional comment (text) Remedy   Error remedy Line   Line of error occurrence  ...
  • Page 320 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 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: 11/2020 11  Alarms & warnings...
  • Page 321 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description TimePowerStage   Power stage time stamp of error event 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  ...
  • Page 322 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 Table 11.3: “Alarms & warnings (Details)” parameters (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 323 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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  order to prevent Servo Drive nuisance tripping. Each warning is assigned on    ErrorAbsCount   Absolute error counters and off thresholds. This enables parameterization of a hysteresis that meets  Over voltage   Overvoltage the requirement of the application. Warnings can also be programmed onto  Over current   Overcurrent digital outputs.
  • Page 324 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 5. It provides a user-friendly readout in the "Device status"...
  • Page 325 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.5  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 20 most recent errors (see Section "Alarms and warnings (Details)"...
  • Page 326 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   Reaction on "encoder error, common, cyclic in  process" Table 11.6: Error reactions (continue) Reac_EncCH1Cycl   Reaction on "encoder error, channel 1, cyclic in  process" Table 11.7: Parameters “Error reactions” MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 327 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description Reac_EncCH2Cycl   Reaction on "encoder error, channel 2, cyclic in  Reac_GridFailure   "Reaction on ""power grid failure (by detection  process" circuit)""" Reac_EncCH3Cycl   Reaction on "encoder error, channel 3, cyclic in  Reac_SpeedGuard   "Reaction on ""speed guarding error""" process" Reac_MagBearing   "Reaction on ""magnetic bearing error"""...
  • Page 328 Cause: Error while flash initialisation / flash access Suggested steps: Suggested steps: See exception message This is probably a software    Please try to switch to a different version of  This is probably a software    Please try to switch to a different version of  issue.  device firmware.  issue.  device firmware.    Save your dataset and reset the axis module to    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  factory setting. See if the error persists, or if it  comes with activating a certain feature. comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 329 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.2.4  Error 1-3 (emergency code 6010h)  11.6.2.6  Error 1-5 (emergency code 6010h)  Cause: Error while PLC initialisation / PLC execution Cause: Unknown EXCEPTION in TC-safety Suggested steps: Suggested steps: Check PLC program Acknowledge error! - If the error occurs again, reset device! This is probably a software    Please try to switch to a different version of  This is probably a software   ...
  • Page 330 Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  This is probably a software    Please try to switch to a different version of  partner, please include your device's  issue.  device firmware.  parameter setting.   Save your dataset and reset the axis module to  This is probably a software    Please try to switch to a different version of  factory setting. See if the error persists, or if it  issue.  device firmware.  comes with activating a certain feature.   Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 331 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.3.3  Error 2-3 (emergency code 5530h)  11.6.3.4  Error 2-4 (emergency code 6320h)  Cause: Error in parameter saving routine Cause: Error in paralist while adding a new parameter Suggested steps: Suggested steps: Switch off/on device. Please contact your service provider if this error occurs again Switch off/on device.
  • Page 332 See 'history of parameter changes' and undo  parameter setting.   Save your dataset and reset the axis module to  the latest changes.  factory setting. See if the error persists, or if it    Please check your parameter set for  comes with activating a certain feature. implausible settings.     Please set device to factory setting, restart, and  see if the error occurs again.    When reporting this error to your service  partner, please include your device's  parameter setting. This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 333 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.3.8  Error 2-8 (emergency code 6320h)  11.6.3.9  Error 2-9 (emergency code 6320h)  Cause: Error in power stage initialization; selected device voltage not supported Cause: Overvoltage in DC link Suggested steps: Suggested steps: Choose different voltage level and/ or switching frequency Please check parameter (749).
  • Page 334 Re-start process when power is available. Please check grid conditions and power Suggested steps: fail levels. This is possibly a hardware  If other measures fail to solve the problem, please  An under-voltage occurred    Power supply was possibly switched off.  issue replace the servo drive.         on the drive while this axis    Please check if the actual grid voltage matches  was switched on. the supply setting (parameter PST_ VoltageSupply)    Verify that the grid is stable under load  condition. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 335 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.6   Error 5: Overcurrent error  11.6.6.2  Error 5-2 (emergency code 2350h)  Cause: Overcurrent shut-off (fast) by software 11.6.6.1  Error 5-1 (emergency code 2250h)  Suggested steps: Cause: Overcurrent shut-off by hardware Please check power wiring and control settings Suggested steps: An overcurrent was    Please check current control settings and step  Please check power wiring and control settings detected.
  • Page 336   Please check device grounding, i. e. the    Please check device grounding, i. e. the  switching on motor control  switching on motor control  connection to a metal backplane and cabinet  connection to a metal backplane and cabinet  and/ or when connecting DC  and/ or when connecting DC  connection to earth.  connection to earth.  link power supply.  link power supply.    Check motor grounding and motor cable    Check motor grounding and motor cable  length.  length.  MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 337 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.6.5  Error 5-5 (emergency code 2350h)  11.6.6.6  Error 5-6 (emergency code 2350h)  Cause: (Fast) Overcurrent shut-off "below 5 Hz" Cause: Total current monitoring Suggested steps: Suggested steps: Please check torque limits, speed profile and control settings Please check ground connection or power wiring of motor and device, check current values An overcurrent was ...
  • Page 338   Please check the device cabling for proper  problem occurs when  issue. This is very likely if the  connection.    Please check device grounding, i. e. the  switching on motor control  problem occurs when  connection to a metal backplane and cabinet    Please check device grounding, i. e. the  and/ or when connecting DC  switching on motor control  connection to earth.  connection to a metal backplane and cabinet  link power supply.  and/ or when connecting DC  connection to earth.    Check motor grounding and motor cable  link power supply.  length.    Check motor grounding and motor cable  length.  MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 339 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.7   Error 6: Motor temperature error  11.6.7.2  Error 6-2 (emergency code 4310h)  Cause: PTC short circuit detected (DIN2) 11.6.7.1  Error 6-1 (emergency code 4310h)  Suggested steps: Cause: Motor temperature above threshold value Please check PTC cable and sensor Suggested steps: The motor temperature is too    Please let the motor cool down  Wait and let motor cool down. Reduce motor load or change motion cycle.
  • Page 340 Save your parameter set for a later restore.   high. caused by an unsuitable    Please check motor temperature and motor    See 'history of parameter changes' and undo  parameter setting. temperature resistance (PTC sensors do not  the latest changes.  report the motor temperature). If the values are    Please check your parameter set for  not plausible, check cables and sensor type.  implausible settings.     If you are not using a system motor, please    Please set device to factory setting, restart, and  check with the motor manufacturer if the motor  see if the error occurs again.  can stand a higher temperature   When reporting this error to your service  partner, please include your device's  parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 341 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.8   Error 7: Device heatsink temperature error  11.6.9   Error 8: Device inside temperature error  11.6.8.1  Error 7-1 (emergency code 4210h)  11.6.9.1  Error 8-1 (emergency code 4210h)  Cause: Heat sink temperature too high Cause: Interior temperature  monitor Suggested steps: Suggested steps: reduce the load and check the conditions of the drive check the conditions of the drive An overcurrent was ...
  • Page 342   If possible, reduce the needed current,    If possible, reduce the needed current,  especially in low-frequency range.  especially in low-frequency range.    If possible, lower the switching frequency or    If possible, lower the switching frequency or  enable automatic frequency selection.  enable automatic frequency selection.    Check if the encoder offset is set properly.    Check if the encoder offset is set properly.    Consider using an axis module with higher    Consider using an axis module with higher  current rating. current rating. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 343 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.11.2  Error 10-2 (emergency code 2350h)  11.6.12   Error 11: External digital input error  Cause: Internal brake resistor was overloaded 11.6.12.1  Error 11-1 (emergency code FF00h)  Suggested steps: Cause: External error at digital input detected Use slower deceleration ramp, check for external accelerating torque, or use unit...
  • Page 344   Try to increase the master cycle time. connection to a metal backplane and cabinet  and/ or when connecting DC  This is possibly an EMC    Please check the device cabling for proper  connection to earth.  link power supply.  issue. This is very likely if the  connection.    Check motor grounding and motor cable  problem occurs when    Please check device grounding, i. e. the  length.  switching on motor control  connection to a metal backplane and cabinet  and/ or when connecting DC  connection to earth.  link power supply.    Check motor grounding and motor cable  length.  MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 345 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.13.3  Error 12-3 (emergency code 8100h)  11.6.13.4  Error 12-4 (emergency code 8130h)  Cause: CAN option: Message transmit failed Cause: CAN option: Heartbeat error Suggested steps: Suggested steps: The device was probably    Please check the bus system connection. Try  The device was probably    Please check the bus system connection. Try  disconnected from the  to replace the cables.  disconnected from the ...
  • Page 346   Please check your parameter set for    When reporting this error to your service  implausible settings.   partner, please include your device's    Please set device to factory setting, restart, and  parameter setting. see if the error occurs again.  The device was probably    Please check the bus system connection. Try  disconnected from the  to replace the cables.    When reporting this error to your service  master controller, or the  partner, please include your device's    Please try to reduce computational load on the  master is overloaded. parameter setting. master.    Try to increase the master cycle time. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 347 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.13.7  Error 12-7 (emergency code 8130h)  11.6.13.8  Error 12-8 (emergency code FF00h)  Cause: CAN option: Sync / RxPDO timeout error Cause: CAN option: Error while parameter initialisation Suggested steps: Suggested steps: The device was probably    Please check the bus system connection. Try  This issue is probably   ...
  • Page 348 Cause: Sercos option: Receive data disturbed Suggested steps: Disturbed receive data due to distortion. Lightwave power does not match to the cable length. Please check the cable length! MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 349 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.14.6  Error 13-6 (emergency code FF00h)  11.6.14.8  Error 13-8 (emergency code FF00h)  Cause: Sercos option: MDT failure Cause: Sercos option: Phase upshift failure Suggested steps: Suggested steps: Missing master data telegram. Please check the wiring! Error during phase switching (up-shift) by master. Please check the settings in the master! The device was probably ...
  • Page 350 Cause: Sercos option: Run time error see if the error occurs again.  Suggested steps:   When reporting this error to your service  partner, please include your device's  This is probably a software    Please try to switch to a different version of  parameter setting. issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo drive.        MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 351 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.14.13  Error 13-13 (emergency code FF00h)  11.6.14.15  Error 13-15 (emergency code FF00h)  Cause: Sercos option: Watchdog failure Cause: Sercos option: Communication error Suggested steps: Suggested steps: SERCOS controller hardware watchdog. Please check the settings in the master! Error in the topology detection.
  • Page 352   Please check the bus system connection. Try  disconnected from the  to replace the cables.  master controller, or the    Please try to reduce computational load on the  master is overloaded. master.    Try to increase the master cycle time. 11.6.15.2  Error 14-2 (emergency code 8130h)  Cause: EtherCAT®:  Parameter error,  parameter data  implausible Suggested steps: This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo drive.          MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 353 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.15.4  Error 14-4 (emergency code 8130h)  11.6.15.5  Error 14-5 (emergency code 8130h)  Cause: Invalid Configuration, Ethercat communication controller does not support Cause: Missing Ethercat receive process data on Sync Manager 2 requested Sync Manager Suggested steps: Suggested steps: This is possibly an EMC ...
  • Page 354 Save your parameter set for a later restore.   caused by an unsuitable    Please check your parameter set for    See 'history of parameter changes' and undo  parameter setting. implausible settings.   the latest changes.    Please set device to factory setting, restart, and    Please check your parameter set for  see if the error occurs again.  implausible settings.     When reporting this error to your service    Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  partner, please include your device's  parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 355 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.16.3  Error 15-3 (emergency code FF00h)  11.6.16.4  Error 15-4 (emergency code FF00h)  Cause: Error: Timeout during auto commutation Cause: Error in motor model initilization Suggested steps: Suggested steps: Please check auto commutation parameters Please check motor parameters and motor type This issue is probably ...
  • Page 356   See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 357 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.16.7  Error 15-7 (emergency code 6320h)  11.6.16.8  Error 15-8 (emergency code 8400h)  Cause: Encoder gear ratio vs. line count out of range Cause: Unknown speed calculation method selected Suggested steps: Suggested steps: Please check encoder parameters Please check the parameters of the speed observer (P350) This issue is probably ...
  • Page 358 When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. An overcurrent was    Please check current control settings and step  detected. response.     Check the motor's saturation settings  (parameter MOT_LSigDiff). If the error  occurred in high-current range, lower  saturation values manually.    If possible, reduce the needed current,  especially in low-frequency range.    If possible, lower the switching frequency or  enable automatic frequency selection.    Check if the encoder offset is set properly.    Consider using an axis module with higher  current rating. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 359 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.16.11  Error 15-12 (emergency code FF00h)  11.6.16.13  Error 15-14 (emergency code FF00h)  Cause: Plant inertia / mass is invalid Cause: Drive initialization: Unexpected error during drive initialization Suggested steps: Suggested steps: Please specify motor inertia or try to identify plant inertia Check the drives parameter settings This issue is probably ...
  • Page 360   Please check your parameter set for  11.6.16.17  Error 15-18 (emergency code FF00h)  implausible settings.     Please set device to factory setting, restart, and  Cause: Error in power fail initialization see if the error occurs again.  Suggested steps:   When reporting this error to your service  partner, please include your device's  Check power fail parameters or disable function parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 361 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.16.21  Error 15-22 (emergency code FF00h)  11.6.16.22  Error 15-23 (emergency code FF00h)  Cause: Invalid production data detected Cause: Parameter settings requires a valid software key Suggested steps: Suggested steps: Please contact your service provider Please contact your service provider This issue is probably ...
  • Page 362   Please check device grounding, i. e. the  This is possibly an EMC    Please check the device cabling for proper  switching on motor control  connection to a metal backplane and cabinet  issue. This is very likely if the  connection.  and/ or when connecting DC  problem occurs when  connection to earth.    Please check device grounding, i. e. the  link power supply.  switching on motor control    Check motor grounding and motor cable  connection to a metal backplane and cabinet  and/ or when connecting DC  length.  connection to earth.  link power supply.    Check motor grounding and motor cable  length.  MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 363 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.18   Error 17: Position difference error  11.6.19   Error 18: Motion control error  11.6.18.1  Error 17-1 (emergency code 8611h)  11.6.19.1  Error 18-1 (emergency code 8612h)  Cause: Position tracking error too large Cause: Homing: Limit switches interchanged Suggested steps: Suggested steps: Check your parameter P743 Check limit switches The control system failed to    Please check if the axis is blocked.  There is a problem with the    Please check the 24V I/O wiring, function  track the reference value digital/analog inputs...
  • Page 364   Check motor grounding and motor cable    Check motor grounding and motor cable  length.  length.  11.6.19.4  Error 18-4 (emergency code FF00h)  Cause: Homing: Wrong homing method, homing method not available Suggested steps:   Please restart the application (24V reset).    If the error is still reported after the restart please contact your service partner. An error occured at the    Please acknowledge the error.  homing methode.   Please start the homing method again. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 365 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.19.5  Error 18-5 (emergency code FF00h)  11.6.19.9  Error 18-9 (emergency code FF00h)  Cause: Homing: Homing method available but not defined Cause: Homing: Encoder initialization error Suggested steps: Suggested steps: Homing is not available with this motion profile. Please select another homing The homing during device start-up was not performed due to an internal error.
  • Page 366   Please start the homing method again. Cause: PST: Error in switching frequency-dependent data Suggested steps: Call your service provider. This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo drive.        MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 367 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.20.3  Error 19-3 (emergency code 5400h)  11.6.20.5  Error 19-5 (emergency code 5400h)  Cause: PST: Invalid EEPROM data Cause: PST: Error reading power stage data Suggested steps: Suggested steps: Call your service provider. Call your service provider. This is probably a software    Please try to switch to a different version of  This is probably a software    Please try to switch to a different version of  issue.  device firmware. ...
  • Page 368 Switch off/on device. Please contact your service provider if this error occurs again comes with activating a certain feature. This is possibly a hardware  If other measures fail to solve the problem, please  This is probably a software    Please try to switch to a different version of  issue replace the servo drive.          issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 369 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.20.11  Error 19-11 (emergency code 5300h)  11.6.20.13  Error 19-13 (emergency code 5300h)  Cause: Software licence key or level is invalid Cause: Error while FPGA programming Suggested steps: Suggested steps: Please contact your service provider Switch off/on device. Please contact your service provider if this error occurs again This is probably a software ...
  • Page 370 Cause: System run-up with illegal FPGA firmware! factory setting. See if the error persists, or if it  comes with activating a certain feature. Suggested steps: Update the FPGA with the correct firmware! This is probably a software    Please try to switch to a different version of  issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 371 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.20.20  Error 19-20 (emergency code 5300h)  11.6.20.22  Error 19-22 (emergency code 5300h)  Cause: Safety production data invalid (no data or CRC failure) Cause: Functionality or hardware not supported in this software version Suggested steps: Suggested steps:...
  • Page 372   If auto commutation is used, re-view the auto  The speed control might run    Please check that the encoder offset is set  commutation setting and test under all  away, most likely due to a  properly.   wrong encoder offset. possible conditions.    If auto commutation is used, re-view the auto    If torque mode is used, reduce torque, ensure  commutation setting and test under all  external speed limitation, or increase speed  possible conditions.  control gain for stronger limitation.   If torque mode is used, reduce torque, ensure  external speed limitation, or increase speed  control gain for stronger limitation. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 373 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.21.3  Error 20-3 (emergency code 8612h)  11.6.22.1  Error 21-2 (emergency code 7305h)  Cause: Negative hardware limit switch (LSW_N) detected Cause: Electronic nameplate, interface, group error: no further information available. Suggested steps: Suggested steps: Check your hardware Function "Electronic nameplate"...
  • Page 374 Define an order for ENP operation. Please contact your service provider.   The "Electronic Nameplate" (ENP) is located in    The "Electronic Nameplate" (ENP) is located in  the OEM memory of the motor encoder and  the OEM memory of the motor encoder and  contains primarily motor related data.  contains primarily motor related data.    In the simplest case, the ENP contains only the    In the simplest case, the ENP contains only the  commutation angle (ECOFF) between motor  commutation angle (ECOFF) between motor  phases and encoder mounting. phases and encoder mounting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 375 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.22.7  Error 21-10 (emergency code 7305h)  11.6.22.9  Error 21-12 (emergency code 7305h)  Cause: Electronic nameplate, OEM data error, FindBlock: block with number BN not Cause: Electronic nameplate, process block error: group error from schort frame found.
  • Page 376 Function "Electronic nameplate" not available. Please contact your service provider.   The "Electronic Nameplate" (ENP) is located in    The "Electronic Nameplate" (ENP) is located in  the OEM memory of the motor encoder and  the OEM memory of the motor encoder and  contains primarily motor related data.  contains primarily motor related data.    In the simplest case, the ENP contains only the    In the simplest case, the ENP contains only the  commutation angle (ECOFF) between motor  commutation angle (ECOFF) between motor  phases and encoder mounting. phases and encoder mounting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 377 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.22.15  Error 21-25 (emergency code 7305h)  11.6.22.17  Error 21-27 (emergency code 7305h)  Cause: Electronic nameplate, process block error: block 5 EncFeedback (no further Cause: Electronic nameplate, process block error: block 7 MotBreak (no further information available).
  • Page 378 Function "Electronic nameplate" not available. Please contact your service provider.   The "Electronic Nameplate" (ENP) is located in    The "Electronic Nameplate" (ENP) is located in  the OEM memory of the motor encoder and  the OEM memory of the motor encoder and  contains primarily motor related data.  contains primarily motor related data.    In the simplest case, the ENP contains only the    In the simplest case, the ENP contains only the  commutation angle (ECOFF) between motor  commutation angle (ECOFF) between motor  phases and encoder mounting. phases and encoder mounting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 379 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.22.23  Error 21-33 (emergency code 7305h)  11.6.23   Error 22: Encoder channel 1, initialization error  Cause: Electronic nameplate, process block error: block 13 DevSpecDatServo1 (no 11.6.23.1  Error 22-1 (emergency code 7305h)  further information available). Cause: Channel 1 Initialization, SinCos: Line count with SinCos absolute encoder...
  • Page 380 Initialization encoder    Error during the initialization routines of  channel 1 encoder channel 1.    In any case look at init outputs in the message  window of the    In any case look at init outputs in the message  Moog D  5  RIVE DMINISTRATOR window of the  Moog D  5 .  RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder.   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 381 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.23.7  Error 22-7 (emergency code 7305h)  11.6.23.9  Error 22-9 (emergency code 7305h)  Cause: Channel 1 Initialization, EndDat 2.1: error, 'SingleTurn' read from encoder Cause: Channel 1 Initialization, EndDat 2.1: CRC error, parameter data from encoder Suggested steps:...
  • Page 382   Error during the initialization routines of  channel 1 encoder channel 1.  Initialization encoder    This is probably a problem of the    In any case look at init outputs in the message  channel parameterization!  window of the    In any case look at init outputs in the message  Moog D  5 .  RIVE DMINISTRATOR window of the    The most common cause of error is the wiring  Moog D  5 . RIVE DMINISTRATOR to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 383 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.23.15  Error 22-22 (emergency code 7305h)  11.6.23.17  Error 22-24 (emergency code 7305h)  Cause: Channel 1 Initialization, HIPERFACE: common error Cause: Channel 1 Initialization, HIPERFACE: impossible COMMAND in response from encoder Suggested steps: Suggested steps: Group error --> look at message window of the...
  • Page 384 Initialization encoder    Error during the initialization routines of    In any case look at init outputs in the message  channel 1 encoder channel 1.  window of the  Moog D  5 .  RIVE DMINISTRATOR   In any case look at init outputs in the message  window of the    The most common cause of error is the wiring  Moog D  5 .  to the encoder. RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 385 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.23.23  Error 22-30 (emergency code 7305h)  11.6.23.25  Error 22-32 (emergency code 7305h)  Cause: Channel 1 Initialization, HIPERFACE, response with error bit, status: Cause: Channel 1 Initialization, HIPERFACE, response with error bit, status: no error encoder communication error...
  • Page 386 Please look at parameter (552) ENC_CH1_AbsEncStatus Initialization encoder    This is probably a hardware problem!  Initialization encoder    This is probably a software problem!  channel   In any case look at init outputs in the message  channel   In any case look at init outputs in the message  window of the  window of the  Moog D  5 . RIVE DMINISTRATOR Moog D  5 . RIVE DMINISTRATOR MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 387 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.23.31  Error 22-38 (emergency code 7305h)  11.6.23.33  Error 22-41 (emergency code 7300h)  Cause: Channel 1 Initialization, EndDat 2.1: error, 'PositionBits' read from encoder Cause: Channel 1/3 Initialization, EndDat: common error Suggested steps: Suggested steps: Number of clocks to transmit the position from the encoder. No further information Please note the extended information of the error message available.
  • Page 388 Initialization encoder    Error during the initialization routines of    In any case look at init outputs in the message  channel 1 encoder channel 1.  window of the  Moog D  5 .  RIVE DMINISTRATOR   In any case look at init outputs in the message  window of the    The most common cause of error is the wiring  Moog D  5 .  RIVE DMINISTRATOR to the encoder.   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 389 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.24   Error 23: Encoder channel 2, initialization error  11.6.24.3  Error 23-3 (emergency code 7304h)  Cause: Channel 2 Initialization, Resolver: error, encoder monitoring 11.6.24.1  Error 23-1 (emergency code 7304h)  Suggested steps: Cause: Channel 2 Initialization, Resolver: error 'Lines' from parameter (560) ENC_ Please connect the encoder correctly.
  • Page 390 Cause: Channel 3 Initialization, SSI: error, encoder monitoring Suggested steps: Please connect the encoder correctly. Initialization encoder    Error during the initialization routines of  channel 3 encoder channel 3.    In any case look at init outputs in the message  window of the  Moog D  5 .  RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 391 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.25.4  Error 24-4 (emergency code 7307h)  11.6.25.6  Error 24-6 (emergency code 7307h)  Cause: Channel 3 Initialization, EndDat 2.1: error, no EnDat 2.1 encoder (May be, Cause: Channel 3 Initialization, EndDat 2.1: error, 'MultiTurn' read from encoder...
  • Page 392 The transmission is probably disturbed. Please check the wiring to the encoder. channel parameterization!  Initialization encoder    Error during the initialization routines of    In any case look at init outputs in the message  channel 3 encoder channel 3.  window of the  Moog D  5 . RIVE DMINISTRATOR   In any case look at init outputs in the message  window of the  Moog D  5 .  RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 393 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.25.12  Error 24-16 (emergency code 7307h)  11.6.25.14  Error 24-20 (emergency code 7307h)  Cause: Channel 3 Initialization, SSI: 'SingleTurn' from parameter (574) ENC_CH1_ Cause: Channel 3 Initialization, SSI: encoder monitoring SingleT Suggested steps: Suggested steps: Check whether the encoder is correctly connected Change the input of the singleturn bits of the parameter.
  • Page 394 Initialization encoder    Error during the initialization routines of  channel 3 encoder channel 3.    In any case look at init outputs in the message  window of the    In any case look at init outputs in the message  Moog D  5 .  RIVE DMINISTRATOR window of the  Moog D  5 .  RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder.   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 395 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.25.20  Error 24-44 (emergency code 7307h)  11.6.25.22  Error 24-46 (emergency code 7307h)  Cause: Channel 3 Initialization, LinMot: common error Cause: Channel 3 Initialization: the internal multiturn resolution is too low to process ENC_CH3_MTBase correctly. Suggested steps:...
  • Page 396 11.6.25.25  Error 24-51 (emergency code 7300h)  mechanical vibration during initialization. Cause: Channel 3 Initialization, HDSL: common error Suggested steps: Initialization encoder    Error during the initialization routines of  channel 3 encoder channel 3.    In any case look at init outputs in the message  window of the  Moog D  5 .  RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 397 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.26   Error 25: Encoder cyclic process, common error  11.6.26.3  Error 25-3 (emergency code FF00h)  Cause: Encoder cyclic, Getting commutation: redundant encoder, maximum tracking 11.6.26.1  Error 25-1 (emergency code FF00h)  error exceeded Cause: Encoder cyclic, Getting commutation: position difference too high Suggested steps: Suggested steps:...
  • Page 398   In any case look at init outputs in the message  Encoder channel, cyclic    Error during the cyclic evaluation of an  window of the  evaluation encoder channel 1.  Moog D  5 .  RIVE DMINISTRATOR   In any case look at init outputs in the message    The most common cause of error is the wiring  window of the  to the encoder. Moog D  5 .  RIVE DMINISTRATOR   The most common cause of error is the wiring  to the encoder. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 399 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.28   Error 28: Encoder channel 3, cyclic process error 11.6.28.2  Error 28-2 (emergency code 7307h)    Cause: Channel 3 cyclic, Np (distance coded): error, delta correction failed 11.6.28.1  Error 28-1 (emergency code 7307h)  Suggested steps: Please check the wiring of the encoder, perhaps reduce the speed.
  • Page 400 Save your parameter set for a later restore.   caused by an unsuitable    Please check your parameter set for    See 'history of parameter changes' and undo  parameter setting. implausible settings.   the latest changes.    Please set device to factory setting, restart, and    Please check your parameter set for  see if the error occurs again.  implausible settings.     When reporting this error to your service    Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  partner, please include your device's  parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 401 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.29.3  Error 30-3 (emergency code 5300h)  11.6.29.4  Error 30-4 (emergency code 5300h)  Cause: Error while calculating flux model of asynchr. motor Cause: Error by setting up Imag Table Suggested steps: Suggested steps: Check motor parameters (Rrot, Lsig, Lmag) and magn.current Imag Check Imag, Slim and table entries of module CON_FM This issue is probably ...
  • Page 402 11.6.30.1  Error 31-0 (emergency code FF00h)  Cause: User defined Error detected. Suggested steps: Error was triggered by PLC application (Function: MCB_CTR_SetError). Further information is available from the programmer of the application! MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 403 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.31   Error 32: PROFIBUS/PROFINET error  11.6.31.2  Error 32-2 (emergency code 8100h)  Cause: Profinet IRT: No firmeware on Profinet option available! 11.6.31.1  Error 32-1 (emergency code 8100h)  Suggested steps: Cause: Profibus/Profinet option: process data timeout This is probably a software    Please try to switch to a different version of  Suggested steps: issue. ...
  • Page 404 Please reduce computational load by  motion control.  critical task of axis module is  removing parameters from mapping.  too high. This is probably a software    Please try to switch to a different version of    De-activate features of control system or  issue.  device firmware.  motion control.    Save your dataset and reset the axis module to  This is probably a software    Please try to switch to a different version of  issue.  device firmware.  factory setting. See if the error persists, or if it  comes with activating a certain feature.   Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 405 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.32.3  Error 33-2 (emergency code 5300h)  11.6.32.5  Error 33-4 (emergency code 5300h)  Cause: Internal timing error Cause: Internal timing error Suggested steps: Suggested steps: Please restart device. Run time error, not enough CPU performance, check PLC program Computational load in time-...
  • Page 406   When reporting this error to your service  partner, please include your device's  parameter setting. 11.6.33.2  Error 34-1 (emergency code 3220h)  Cause: Returning DC-link voltage detected Suggested steps: Restart Device An under-voltage occurred    Power supply was possibly switched off.  on the drive while this axis    Please check if the actual grid voltage matches  was switched on. the supply setting (parameter PST_ VoltageSupply)    Verify that the grid is stable under load  condition. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 407 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.34   Error 35: Encoder monitoring error  11.6.34.2  Error 35-1 (emergency code 7305h)  Cause: ENC CH1 SinCos: error, encoder monitoring 11.6.34.1  Error 35-0 (emergency code 7300h)  Suggested steps: Cause: Unknown encoder monitoring error Check encoder cables, voltage supply, and selection. Make sure unused channels Suggested steps: are switched off.
  • Page 408   See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 409 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.34.5  Error 35-4 (emergency code 7305h)  11.6.34.6  Error 35-5 (emergency code 7305h)  Cause: ENC CH1 SSI: error, encoder monitoring Cause: ENC CH1 SSI: error, parity error Suggested steps: Suggested steps: Check encoder cables, voltage supply, and selection. Make sure unused channels Check encoder cables, voltage supply, and selection.
  • Page 410   See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 411 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.34.9  Error 35-8 (emergency code 7305h)  11.6.34.10  Error 35-9 (emergency code 7307h)  Cause: ENC CH1: wire break on digital encoder Cause: ENC CH3: wire break on digital encoder Suggested steps: Suggested steps: Check encoder cables, voltage supply, and selection. Make sure unused channels Check encoder cables, voltage supply, and selection.
  • Page 412 The encoder is not    If this is encoder has analog signals, please  estimated from previous data. connected or not working  check the signal amplitude vs. parameter  properly. EncObsMin    Check cabling. If available, please try another  encoder and cable.    See detailed error information (>>) for a more  detailed description. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 413 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.35   Error 37: Syncronization controller error  11.6.37   Error 39: TWIN monitoring error  11.6.35.1  Error 37-1 (emergency code 6100h)  11.6.37.1  Error 39-0 (emergency code 7300h)  Cause: Wrong ratio between interpolation-, synchonization- or velocity control time Cause: TWIN-Monitoring: speed difference between master and slave is too large Suggested steps:...
  • Page 414   See 'history of parameter changes' and undo  parameter setting.   Please check your parameter set for  the latest changes.  implausible settings.     Please check your parameter set for    Please set device to factory setting, restart, and  implausible settings.   see if the error occurs again.    Please set device to factory setting, restart, and    When reporting this error to your service  see if the error occurs again.  partner, please include your device's    When reporting this error to your service  parameter setting. partner, please include your device's  parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 415 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.37.4  Error 39-3 (emergency code 2350h)  11.6.37.5  Error 39-4 (emergency code 2350h)  Cause: Maximum phase difference detected Cause: TWIN-Monitoring: position difference between master and slave is too large Suggested steps: Suggested steps: The control system failed to    Please check if the axis is blocked.  The control system failed to ...
  • Page 416 Save your parameter set for a later restore.   caused by an unsuitable    Please check your parameter set for    See 'history of parameter changes' and undo  parameter setting. implausible settings.   the latest changes.    Please set device to factory setting, restart, and    Please check your parameter set for  see if the error occurs again.  implausible settings.     When reporting this error to your service    Please set device to factory setting, restart, and  partner, please include your device's  see if the error occurs again.  parameter setting.   When reporting this error to your service  partner, please include your device's  parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 417 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.38.3  Error 40-2 (emergency code 7300h)  11.6.38.4  Error 40-3 (emergency code 7300h)  Cause: Tech-Option mode conflict Cause: Tech-Option remote error Suggested steps: Suggested steps: Tech-Option both master / both slave Error pending on remote servo This issue is probably ...
  • Page 418   See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 419 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.38.7  Error 40-6 (emergency code 7300h)  11.6.38.9  Error 40-8 (emergency code 7300h)  Cause: Tech-Option initialisation error Cause: Tech-Option initialisation error Suggested steps: Suggested steps: Error while loading dynamic software module Error in TwinSync mapping configuration This issue is probably ...
  • Page 420   See 'history of parameter changes' and undo  parameter setting. the latest changes.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it    Please check your parameter set for  comes with activating a certain feature. implausible settings.   This is possibly a hardware  If other measures fail to solve the problem, please    Please set device to factory setting, restart, and  issue replace the servo drive.        see if the error occurs again.    When reporting this error to your service  partner, please include your device's  parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 421 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.40.2  Error 43-1 (emergency code 6100h)  11.6.42  Error 45: Lock violation error Cause: Plausibility error between IP adress and subnetmask, subnetmask was 11.6.42.1  Error 45-0 (emergency code 8612h) corrected! Cause: Unknown lock violate error Suggested steps: Suggested steps: Check the settings of the IP address and the subnetmask of the Ethernet interface (X3/X9) in the parameters 671 and 688.
  • Page 422   See 'history of parameter changes' and undo  parameter setting. parameter setting. the latest changes.  the latest changes.    Please check your parameter set for    Please check your parameter set for  implausible settings.   implausible settings.     Please set device to factory setting, restart, and    Please set device to factory setting, restart, and  see if the error occurs again.  see if the error occurs again.    When reporting this error to your service    When reporting this error to your service  partner, please include your device's  partner, please include your device's  parameter setting. parameter setting. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 423 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.42.4  Error 45-3 (emergency code 8612h)  11.6.43   Error 46: Position limit error  Cause: Software limit switch overtravel detected, traversing task rejected 11.6.43.1  Error 46-0 (emergency code 8612h)  Suggested steps: Cause: Unknown position limit error Quit error and change reference value Suggested steps: The reference value violates ...
  • Page 424 Please check that the encoder offset is set  The speed control might run    Please check that the encoder offset is set  away, most likely due to a  properly.   away, most likely due to a  properly.   wrong encoder offset. wrong encoder offset.   If auto commutation is used, re-view the auto    If auto commutation is used, re-view the auto  commutation setting and test under all  commutation setting and test under all  possible conditions.  possible conditions.    If torque mode is used, reduce torque, ensure    If torque mode is used, reduce torque, ensure  external speed limitation, or increase speed  external speed limitation, or increase speed  control gain for stronger limitation. control gain for stronger limitation. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 425 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.43.4  Error 46-3 (emergency code 8612h)  11.6.43.5  Error 46-4 (emergency code 8612h)  Cause: Software limit switch overtravel detected Cause: Position reference value out of range Suggested steps: Suggested steps: Quit error and change reference value Quit error and change reference value Position was limited ...
  • Page 426 Please check the security program.  or download of the safety  An error occurred in the    Please acknowledge the error.    Please check the connection settings of your  programm. communication to the safety  safety system in Safe PLC.    If the error occurs again please restart the  system. application (24V reset).   Please reload or download the safety program  This is probably a software    Please try to switch to a different version of  again. issue.  device firmware.    Save your dataset and reset the axis module to  factory setting. See if the error persists, or if it  comes with activating a certain feature. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 427 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.44.5  Error 47-4 (emergency code 6100h)  11.6.45   Error 49: Safety system error  Cause: Upload of safe PLC application file failed 11.6.45.1  Error 49-0 (emergency code 6100h)  Suggested steps: Cause: Unknown fatal error in functional safety interface Acknowledge error and try upload again Suggested steps: An error occured at the up- ...
  • Page 428 " MSD Servo Drive  Software with Safety PLC Function". Software with Safety PLC Function". An alarm occured at the    Please check the safety program and the  An alarm occured at the    Please check the safety program and the  safety controller. wiring of the safety system.   safety controller. wiring of the safety system.     Please acknowledge the alarm at the safety    Please acknowledge the alarm at the safety  master. The safety master acknowledges all  master. The safety master acknowledges all  slave alarms and resets the network status to  slave alarms and resets the network status to  "RUN". "RUN". MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 429 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.45.4  Error 49-3 (emergency code 6100h)  11.6.45.5  Error 49-4 (emergency code 6100h)  Cause: Alarm on safety drive SR1 of Slave 1 detected Cause: Alarm on safety drive SR2 of Slave 1 detected Suggested steps: Suggested steps:...
  • Page 430 " MSD Servo Drive  Software with Safety PLC Function". Software with Safety PLC Function". An alarm occured at the    Please check the safety program and the  An alarm occured at the    Please check the safety program and the  safety controller. wiring of the safety system.   safety controller. wiring of the safety system.     Please acknowledge the alarm at the safety    Please acknowledge the alarm at the safety  master. The safety master acknowledges all  master. The safety master acknowledges all  slave alarms and resets the network status to  slave alarms and resets the network status to  "RUN". "RUN". MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 431 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.45.8  Error 49-7 (emergency code 6100h)  11.6.45.9  Error 49-8 (emergency code 6100h)  Cause: Alarm on safety drive SR1 of Slave 3 detected Cause: Alarm on safety drive SR2 of Slave 3 detected Suggested steps: Suggested steps:...
  • Page 432 " MSD Servo Drive  Software with Safety PLC Function". Software with Safety PLC Function". An alarm occured at the    Please check the safety program and the  An alarm occured at the    Please check the safety program and the  safety controller. wiring of the safety system.   safety controller. wiring of the safety system.     Please acknowledge the alarm at the safety    Please acknowledge the alarm at the safety  master. The safety master acknowledges all  master. The safety master acknowledges all  slave alarms and resets the network status to  slave alarms and resets the network status to  "RUN". "RUN". MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 433 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.45.12  Error 49-11 (emergency code 6100h)  11.6.45.13  Error 49-12 (emergency code 6100h)  Cause: Alarm on safety drive SR1 of Slave 5 detected Cause: Alarm on safety drive SR2 of Slave 5 detected Suggested steps: Suggested steps:...
  • Page 434 Software with Safety PLC Function". Software with Safety PLC Function". An error occured at the    Please check the safety program and the  An error occured at the    Please check the safety program and the  safety controller. wiring of the security system.   safety controller. wiring of the security system.     Please acknowledge the error on the affected    Please acknowledge the error on the affected  device. Subsequently the alarm must be  device. Subsequently the alarm must be  acknowledged at the safety master to reset the  acknowledged at the safety master to reset the  network status to "RUN".  network status to "RUN".    Please restart the application (24V reset).   Please restart the application (24V reset). MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 435 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.45.16  Error 49-15 (emergency code 6100h)  11.6.46   Error 51: Encoder status, common error  Cause: Safety network alarm, initiated by safety master 11.6.46.1  Error 51-1 (emergency code 7305h)  Suggested steps: Cause: Channel 1, Status from encoder: warning or error bit set by encoder...
  • Page 436 VoltageSupply)  This is possibly a hardware  If other measures fail to solve the problem, please    Verify that the grid is stable under load  issue replace the servo drive.       condition. 11.6.48   Error 53: Motor failure error  11.6.48.1  Error 53-1 (emergency code 6100h)  Cause: At least one motor phase missing Suggested steps: Check motor wiring This is possibly a hardware  If other measures fail to solve the problem, please  issue replace the servo drive.       MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 437 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.50   Error 55: Speed guarding error  11.6.52   Error 58: HYDRAULIC, common error  11.6.50.1  Error 55-1 (emergency code 6100h)  11.6.52.1  Error 58-1 (emergency code 6100h)  Cause: Speed guarding digital input Cause: Hydraulics, p2t: overload of hydraulic pump Suggested steps: Suggested steps: Check digital inputs Please reduce the load.
  • Page 438 Check clamping pressure generation 11.6.54   Error 61: End damping error  11.6.54.1  Error 61-1 (emergency code 6100h)  Cause: End damping speed limitation error Suggested steps: Switch off/on device. Please contact your service provider if this error occurs again MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11  Alarms & warnings...
  • Page 439 11  Alarms & warnings MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 11.6.55.2  Error 62-3 (emergency code 7307h)  Cause: Encoder channel 3: Endat22, Error 'M-ALL-Power-Down' (BAT) Suggested steps: Multiturn position is lost! Please perform a new homing of the drive. Please reset the encoder internal warnings and errors with parameters (642) and (644).
  • Page 440 This chapter describes the configuration options for various  fieldbuses and makes reference to the corresponding User    EtherCAT® is defined in IEC/EN 61158 and IEC 61784. Manuals where appropriate.   For general information on EtherCAT®, please visit  Contents www.ethercat.org 12.1  CANopen / EtherCAT®   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: 11/2020 12  Fieldbus...
  • Page 441 12  Fieldbus MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 and III User  operating modes, configuration, commissioning), see the  Manual (ID No.: CA65648-001 and CA97557-001 available in EN  PROFIBUS and PROFINET User Manual (ID No.: CA65645-001). only).   PROFIBUS and PROFINET are defined in IEC/EN 61158 and    SERCOS is defined in IEC 61784, IEC/EN 61158 and  IEC 61784. IEC/EN 61800-7.   For general information on PROFIBUS and PROFINET, please    Refer to www.sercos.org for general information about SERCOS visit www.profibus.com...
  • Page 442 If you are under the impression that your application requires the  use of this special function, please contact your project engineer. Image 12.1: EDS file generator screen To be able to integrate a MSD Servo Drive or MSD Single-Axis Servo Drive Compact Index Name Unit Description into a CANopen fieldbus network, you will need an EDS file. This EDS file can 2008  ...
  • Page 443 13.6  TwinSync   TTL encoder with commutation signals   SSI module (see Section "SSI encoder simulation" on page 445)   TWINsync module (see Section "TwinSync" on page 446) For the encoder types that can be evaluated, see Section "Channel 3: Interface X8 (optional)" on page 76. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 13  Technology options (X8)
  • Page 444 13  Technology options (X8) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 “Specification  “Specification Option 2 - Technology, second Sin/Cos encoder”  Option 2 - Technology, Sin/Cos encoder” (ID No.: CB13516-001). (ID No.: CA79903-001).
  • Page 445 TOPT_InOut_EncSim_   Encoder simulation, signal source 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: 11/2020 13  Technology options (X8)
  • Page 446 13  Technology options (X8) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 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 447 14.1  Device status Numerical status   Current numerical device status 14.2  Status bits Textual status   Current device status Fault reset   Fault reset command 14.3  Load factor Table 14.1: “Device status” parameters NOTE   On the device, the device statuses are shown on the 7-segment  display. See Operation Manuals MSD Servo Drive and  MSD Single-Axis Servo Drive Compact. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 14  Device status...
  • Page 448 14  Device status MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 14.2  Status bits 14.3  Load factor To select the DriveCom status word (P 151[0]) for viewing in the oscilloscope, click Index Name Unit Description on the “Scope signals of Status bits ” (at the very top of the window).
  • Page 449 “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 Image 15.1: Safety information MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 15  Manual mode...
  • Page 450 Depending on the control mode you selected, one to four configuration tabs will Double-clicking on “Manual mode control status” will open a window that will show appear: the status word for the MSD Servo Drive in hexadecimal format.   A table with the parameters that are specific to the relevant control mode but ...
  • Page 451 LoadedParamDataSet DV_CAL_ChopperGuard   Internal chopper guarding enable DV_CAL_   Production information: serial number of device SerialNumServo DV_CAL_CB_   Controller board article number ArticleNumber DV_CAL_   Safety firmware data CRC SafeFirmDataCrc MON_OpTime_Raw   Operation time MON_OpEnTime_Raw   Operation enabled time Table 16.1: “Drive description” parameters MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 16  Drive description...
  • Page 452 16  Drive description MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Index Name Unit Description DV_SwVersionVar   Software version variant of device (plain text)   DV_SwBootInfo   Bootloader information, version and checksum   USB_IO_Statistic   Statistic data of USB-IO Infineon driver DV_SwBootVersion   Bootloader information, version uReset   Reset statistics data DV_SwBootChecksum  ...
  • Page 453 List of names of parameter save groups DataTypeName   Sub parameters data type name PARA_DSC_SaveGroup     Attributes   Sub parameter’s attributes PARA_DSC_SaveGroup     Minimum   Sub parameters minimum value as float32 PARA_DSC_SaveGroup     Table 16.4: Parameter “Drive description - Interface" (continue) MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 16  Drive description...
  • Page 454 16  Drive description MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Index Name Unit Description Maximum   Sub parameters maximum value as float32 Default   Sub parameters default value as float32 StringDefault   Manufacture-specific default value as text NativeMinimum   Native sub parameter minimum value as 4-byte  data stream NativeMaximum   Native sub parameter maximum value as 4-byte  data stream NativeDefault   Native sub parameter default value as 4-byte  data stream   PARA_DSC_Groups2  ...
  • Page 455 The character strings associated with the respective data set IDs (linked via the subindex with P 98) which define the parameters and values to be loaded are entered in P 99 - PARA_DataSetLdVal. MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 17  Enhanced/additional functions...
  • Page 456 17  Enhanced/additional functions MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 17.1.2  Parameter list The parameter P 97 - PARA_DataSetLdCfg[1] FS is the function selector and specifies which source is used for determining the data set ID. Index Name/Setting Unit Description The parameter P 97 - PARA_DataSetLdCfg[2] (= PARA_DataSetLd_Mask) functions  ...
  • Page 457 If the data set ID is found in element x, the string in the associated parameter P 99 - This must have the syntax PARA_DataSetLdVal[x] is interpreted. This must have the format <INDEX>,<SUBINDEX>,<VALUE>;<INDEX>,<SUBINDEX>,<VALUE>; …. <INDEX>,<SUBINDEX>,<VALUE>;<INDEX>,<SUBINDEX>,<VALUE>;… MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 17  Enhanced/additional functions...
  • Page 458 17  Enhanced/additional functions MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 (length: max 100 characters each). The consecutively specified parameter values If, for example, a data set ID with the ID “123” is determined, the parameters 456 are loaded accordingly. If the string cannot be interpreted due to input errors, an [0]=300 and 451[0]="Testmotor”...
  • Page 459 Bit 0 = 1: Remove fieldbus-specific parameters from the data set. Bit 1 = 1: Remove scope parameters from the data set. Table 16.7: Upload and download of parameter data sets 17.2.1  Write parameter data set to the file system   MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 17  Enhanced/additional functions...
  • Page 460 17  Enhanced/additional functions MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 17.2.2  Loading the parameter data set from the  file system Action Load the parameter set from the PC to the file system of the servo drive via FTP script:  open 192.168.39.5  Servo  Drive  mkdir /para ...
  • Page 461 Detent torque Function selectors Control 108, See also Torque control; Speed control; Position control Parameters Basic setting CANopen 21, 440 Motor control basic settings EDS file Shutdown State machine MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 18  Index...
  • Page 462 18  Index MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Control location selector Control word Deceleration Auto commutation Device status Fieldbus Digital filter Homing Hydraulic 190, 192, 212 Process controller 166-167 Electronic cam plate Reference table 268-269 Electronic gearing...
  • Page 463 Method (14) Field weakening Method (15) Asynchronous motor 143, 145 Method (16) Synchronous motor 146, 156 Method (17) to (30) Fieldbus 440, See also CANopen; EtherCAT®; SERCOS; PROFIBUS; PROFINET MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 18  Index...
  • Page 464 18  Index MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Method (2) Interpolation types Method (3) Method (31) Jog mode Method (32) Method (33) Method (34) LHMES(2) method Method (35) Limit switch Method (4) negative Method (5) Limitations...
  • Page 465 Output Oversampling Configuration Identification Protection 40, 302 Position control I²t IP mode Synchronous 33, 35 PG mode Auto commutation Reference table 266-268 Linear Reference value limitation Electronic data MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 18  Index...
  • Page 466 18  Index MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Setting Reference 266, 301 Limitation Position controller Sampling time Shutdown Position polarity Table Power-up sequence Reference mark 66, 86, 256, 259, 261 Power failure response Increment-coded Power stage...
  • Page 467 311-312 Oversampling Mass inertia Pin assignment 57-58 PG mode Pulses per revolution 59, 79 Reference table 266-268 Second on X8 technology option 76, 78, 443-444 Reference value limitation MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 18  Index...
  • Page 468 18  Index MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Reference value reached Synchronized motion 277, 279 Rigidity of the drive train STO (Safe Torque Off) 16, 293, 296, 299-300 Stop Setting 20, 125 Stop ramps Together with position control...
  • Page 469 With analog setpoint setting Hall With speed control Master encoder 76, 78 Torque control Pin assignment 57-58 Adaption Pulses per revolution 59, 79 Defined bandwidth with commutation signals 76, 78 MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 18  Index...
  • Page 470 18  Index MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020 Wire break monitoring 271, 306 Activation Units See Scaling Zero pulse 107, 255, 257, 259, 263 V/Hz mode Versions Hardware Software Virtual Master Warning status Warning thresholds Warnings Weighting   See also Scaling...
  • Page 471 Russia info.germany@moog.com +55 11 3572 0400 +353 21 451 9000 +7 8 31 713 1811 info.brazil@moog.com info.ireland@moog.com Service +7 8 31 764 5540 Moog is a registered trademark of Moog, Inc. and their branches. All of the service.brazil@moog.com   info.russia@moog.com     service.russia@moog.com trademarks listed here are the property of Moog Inc. and their branches.
  • Page 472 MOOG MSD Servo Drive  - Device Help ID No.: CB40859-001   Date: 11/2020...

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