Moog MSD Single-Axis Servo Drive Compact Series Manuals

Manuals and User Guides for Moog MSD Single-Axis Servo Drive Compact Series. We have 1 Moog MSD Single-Axis Servo Drive Compact Series manual available for free PDF download: Device Help

Moog MSD Single-Axis Servo Drive Compact Series Device Help

Moog MSD Single-Axis Servo Drive Compact Series Device Help (320 pages)

Brand: Moog | Category: DC Drives | Size: 16.58 MB

Table of Contents

MOOG ID No.: CB40859-001 Date
2
Change History

3
Disclaimer

5
- MOOG ID No.: CB40859-001 Date
  5
- Table of Contents
  6
1 General Information

10
- Target Group
  10
- Requirements
  10
- Applicable Documentation
  11
- Pictograms
  13
- Disclaimer
  13
- Technical Helpline
  13
2 Safety

15
- Overview
  15
- For Your Own Safety
  15
- Safety Information and Warnings
  15
- Responsibility
  16
  - Initial Commissioning
    17
  - Initial Commissioning
    18
3 Initial Commissioning

18
- Automatic Test
  22
- Motor
  23
- Encoder
  24
- Control
  24
- Power Stage Settings
  25
  - Voltage Supply
    26
  - Switching Frequency
    26
  - Online Derating of Switching Frequency
    26
  - Parameters
    26
- Power Failure Bridging
  28
  - Functional Description
    28
  - Parameter Configuration
    28
  - Modes
    29
  - Parameters
    30
5 Motor

31
- Motor Configuration Data
  31
- Synchronous Motor
  32
  - Synchronous Motor Electronic Data
    34
- Linear Synchronous Motor
  35
  - Linear Synchronous Motor Electronic Data
    36
- Asynchronous Motor
  37
  - Asynchronous Motor Electronic Data
    38
- Motor Protection
  39
- Motor Identification
  43
  - Synchronous Motor Identification (Rotary and Linear)
    45
  - Asynchronous Motor Identification
    45
- Support for Motor Filters When Using PMSM Motors
  45
  - General Functional Description
    45
  - Configuration
    47
  - Parameters
    48
  - Scope Signals
    48
6 Encoder

49
- Introduction
  50
- Encoder Selection
  51
- Encoder Offset
  53
- Connectors and Pin Assignations
  53
  - Connector for Resolver (X6)
    54
  - Connector for High-Resolution Encoders (X7)
    54
- Channel 1: Interface X7
  56
  - Main Parameters for Encoder Channel Ch1
    57
  - Endat (Cyclical) X7
    58
  - Hall Sensor X7
    60
  - Sin/Cos / TTL X7
    60
  - SSI (Cyclical) X7
    66
  - Encoder Gearing
    68
- Channel 2: Interface X6
  70
- Channel 3: Interface X8 (Optional)
  74
  - Main Parameters for Encoder Channel Ch3
    78
  - X8 Absolute Value Interfaces
    80
  - Endat (Cyclical) X8
    80
  - Hall Sensor X8
    80
  - Sin/Cos / TTL X8
    81
  - SSI (Cyclical) X8
    85
  - Encoder Gearing
    87
- Channel 4: Virtual Encoder
  88
- Redundant Encoder
  96
- Axis Correction
  97
- Oversampling
  100
- Multi-Turn Encoder as a Single-Turn Encoder
  101
- Distance-Coded Reference Marks
  101
- Overflow in Multi-Turn Range
  103
- Zero Pulse Test
  104
7 Control

105
- Control Structure Overview
  105
  - Setting
    106
- Basic Settings
  107
  - Motor Control Basic Settings
    107
  - Mass Inertia Detection
    108
- Torque Controller
  110
  - Current Controller Optimization
    110
  - Creating the Transfer Function
    111
  - Current Actual Value Filter
    112
  - Detent Torque Compensation
    112
  - Advanced Torque Control
    122
  - Torque Control with Defined Bandwidth
    125
- Speed Controller
  126
  - Advanced Speed Control
    128
  - Digital Filter
    131
  - Analysis of Speed Control
    132
- Position Controller Settings
  135
  - Pre-Control
    135
  - Friction Torque Compensation (Friction)
    136
  - Synchronous Motor Field-Weakening
    138
  - Variant 1: Default
    138
  - Variant 2: Modified Characteristic
    139
  - Voltage Controller
    139
  - Field-Weakening of Asynchronous Motor Voltage Controller
    140
- Synchronous Motor Field-Weakening
  141
- From Firmware 124.20-08 Additional Document CC41778-001 Applies
  141
  - Variant 1 (Table)
    142
  - Variant 2 (Calc)
    142
  - Synchronous Motor Voltage Controller Field Weakening
    143
- Synchronous Motor Auto Commutation
  144
  - IENCC(1) Method
    146
  - LHMES(2) Method
    147
  - IECON(4) Method
    148
  - Test Signal Generator
    149
- V/Hz Mode
  153
- Process Controller
  154
  - Features
    154
  - Description of Control Structure
    154
    
    Rate Limiter
    157
    
    Parameters
    158
    
    Scope Signals
    159
8 Motion Profile

160
- Settings
  161
- Scaling / Units
  162
  - Standard/Cia
    163
  - Sercos
    168
  - User Defined
    177
- Basic Settings
  180
  - PG Mode with Speed Control
    180
  - PG Mode with Position Control
    181
  - IP Mode with Speed Control
    182
  - IP Mode with Position Control
    183
  - Jerk Limitation and Speed Offset
    183
  - Interpolation
    185
- Stop Ramps
  187
- Homing
  189
- Jog Mode
  203
  - Configuration
    203
  - Digital Inputs
    204
  - Manual Mode Window, "Jog Mode" Tab
    204
- Setpoint Table
  205
- Analog Channel (ISA00 and ISA01)
  212
  - Special Characteristics of Position Control Mode
    213
  - Wire Break Monitoring
    213
- State Machine
  215
- Touch Probe
  217
- Synchronized Motion
  218
  - Electronic Camming
    219
  - Control Word for Synchronized Motion
    221
  - Status Word for Synchronized Motion
    221
  - Master Configuration
    222
  - Electronic Gearing
    225
  - Engagement
    226
  - Disengagement
    227
- Virtual Master
  228
- Common Master
  229
- CAM Switch
  230
- Data Handling
  230
9 Input/Output Settings

231
- Digital Inputs
  232
  - Digital Standard Inputs
    233
  - Function Selectors
    234
  - Hardware Enable - Power Stage
    235
  - Digital Virtual Inputs
    236
  - Status of Digital Inputs
    236
  - Control Selector Switching
    237
  - Power-Up Sequence
    237
  - Pulse Direction
    238
  - From Firmware 124.20-08 Additional Document CC41778-001 Applies
    238
- Digital Outputs
  238
  - Standard Digital Outputs
    238
  - Function Selectors
    239
  - Relay Outputs
    240
  - Status of Digital Outputs
    241
  - Reference Reached REF
    241
  - Sreference Limit LIMIT(14)
    242
  - Switching with Motor Contactor
    242
- Analog Inputs
  243
  - Standard Analog Inputs
    243
  - Function Selectors
    244
  - Analog Input Scaling
    245
  - Profile Mode and Analog Inputs
    246
  - Wire Break Monitoring
    247
- Analog Outputs (Option for MSD Servo Drive Only)
  247
  - Function Selectors
    248
- Motor Brake Output
  248
  - Motor Brake Details
    249
10 Limits / Thresholds

251
- Settings
  251
- Torque / Force Limits
  252
- Speed Limits
  253
- Position Limits
  253
- Power Stage
  254
11 Alarm & Warnings

255
- Warning Status
  255
- Alarms & Warnings (Details)
  257
- Warning Thresholds
  264
- Error Display
  265
  - Servo Drive Display
    265
  - Moog Driveadministrator Display
    266
- Error Reactions
  266
- Error List
  269
12 Fieldbus

293
- Canopen / Ethercat
  293
- Sercos
  294
- Profibus / Profinet
  294
- Synchronization / Configuration
  295
- EDS File Generator
  295
13 Technology Options (X8)

296
- Selection of Modules
  296
- Second Sin/Cos Encoder
  297
- TTL with Encoder Simulation
  298
- SSI Encoder Simulation
  298
  - Parameters
    298
- Twinsync
  299
- Technology Options (X8)
  299
14 Device Status

300
- Status Bits
  301
- Load Factor
  301
15 Manual Mode

302
- Manual Mode Window
  302
- Manual Mode Control Status
  306
16 Device Description

307
- Electronic Rating Plate
  307
17 Index

311

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