Moog MSD Servo Drive Series Reference guide

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

Description of the MSD Servo Drive software functionality (Single-Axis System and
Multi-Axis System) as well as MSDSingle-Axis Servo Drive Compact
ID No.: CB40859-001, Rev. 2.2
Information valid as of: 02/2018
Effective as of firmware version
V124.15-13(MSDSingle-AxisServoDriveCompact)
V124.15-13(MSDServoDriveSingle-AxisSystemandMulti-AxisSystem)
The outline behind this help, as well as the screenshots used, were taken from Moog
DRIVEADMINISTRATOR Version 5.6.
The German version is the original version of this documentation.
MOOG ID No.: CB40859-001 Date: 02/2018MSD Servo Drive- Device Help 2

MOOG ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 3
Change history

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

Disclaimer
Subject to technical change without notice.
This Operation Manual has been prepared based on DINEN82079-1. Its contents
were put together with the greatest care and attention and reflect thelatest
information available to us.
We should nevertheless point out that this document cannot always be updated in
line with ongoing technical developments in our products.
Information and specifications may be subject to change at any time. Please refer to
[email protected] for the latest version.
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 ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 5
Disclaimer

Tableofcontents
Change history 3
Disclaimer 5
Table of contents 6
1 General information 10
1.1 Target group 10
1.2 Requirements 10
1.3 Applicable documentation 11
1.4 Pictograms 13
1.5 Disclaimer 13
1.6 Technical Helpline 13
2 Safety 15
2.1 Overview 15
2.2 For your own safety 15
2.3 Safety information and warnings 15
2.4 Responsibility 16
3 Initial commissioning 17
3.1 Initial commissioning wizard 17
3.1.1 Hardware requirements 17
3.1.2 Prompt Initial commissioning 17
3.1.3 Initial commissioning 18
3.2 Automatic test 22
3.3 Motor 23
3.4 Encoder 24
3.5 Control 24
4 Power Stage 25
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Table of contents
4.1 Power stage settings 25
4.1.1 Voltage supply 26
4.1.2 Switching frequency 26
4.1.3 Online derating of switching frequency 26
4.1.4 Parameters 26
4.2 Power failure bridging 28
4.2.1 Functional description 28
4.2.2 Parameter configuration 28
4.2.3 Modes 29
4.2.4 Parameters 30
5 Motor 31
5.1 Motor configuration data 31
5.2 Synchronous motor 32
34
5.2.1 Synchronous motor electronic data
5.3 Linear synchronous motor 35
36
5.3.1 Linear synchronous motor electronic data
5.4 Asynchronous motor 37
38
5.4.1 Asynchronous motor electronic data
5.5 Motor protection 39
5.5.1 Temperature sensors 39
5.5.2 Synchronous motor I²t monitoring 41
5.5.3 Asynchronous motor I²t monitoring 42
5.6 Motor identification 43
5.6.1 Synchronous motor identification (rotary and linear) 45
5.6.2 Asynchronous motor identification 45
5.7 Support for motor filters when using PMSM motors 45
5.7.1 General functional description 45
5.7.2 Configuration 47
5.7.3 Parameters 48
5.7.4 Scope signals 48
6 Encoder 49
6.1 Introduction 50
6.1.1 Limiting for EnDat and SSI 50
6.1.2 Encoder gearing 50

50
51
53
6.1.3 Actual values at the encoder channel outputs
6.2 Encoder selection
6.3 Encoder offset
6.4 Connectors and pin assignations 53
6.4.1 Connector for resolver (X6) 54
6.4.2 Connector for high-resolution encoders (X7) 54
6.5 Channel 1: Interface X7 56
57
58
60
60
66
6.5.1 Main parameters for encoder channel Ch1
6.5.2 EnDat (cyclical)X7
6.5.3 Hall sensor X7
6.5.4 Sin/Cos/ TTLX7
6.5.5 SSI (cyclical)X7
6.5.6 Encoder gearing 68
6.6 Channel 2: Interface X6 70
6.6.1 Compensation for long resolver cables 71
6.6.2 Signal correction GPOC (Gain Phase Offset Correction) 71
6.6.3 X6 encoder gearing 73
6.7 Channel 3: Interface X8 (optional) 74
78
80
80
80
81
85
6.7.1 Main parameters for encoder channel Ch3
6.7.2 X8 absolute value interfaces
6.7.3 EnDat (cyclical)X8
6.7.4 Hall sensor X8
6.7.5 Sin/Cos/ TTLX8
6.7.6 SSI (cyclical) X8
6.7.7 Encoder gearing 87
6.8 Channel 4: Virtual encoder 88
6.8.1 Sensorless control synchronous motor 89
95
96
97
100
101
101
103
6.8.2 Sensorless asynchronous motor control
From firmware 124.20-08 additional document CC41778-001 applies
6.9 Redundant encoder
6.10 Axis correction
6.11 Oversampling
6.12 Multi-turn encoder as a single-turn encoder
6.13 Distance-coded reference marks
6.14 Overflow in multi-turn range
6.15 Zero pulse test 104
7 Control 105
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Table of contents
7.1 Control structure overview 105
7.1.1 Setting 106
7.2 Basic settings 107
7.2.1 Motor control basic settings 107
7.2.2 Mass inertia detection 108
7.3 Torque controller 110
7.3.1 Current controller optimization 110
7.3.2 Creating the transfer function 111
7.3.3 Current actual value filter 112
7.3.4 Detent torque compensation 112
7.3.5 Advanced torque control 122
7.3.6 Torque control with defined bandwidth 125
7.4 Speed controller 126
128
131
7.4.1 Advanced speed control
7.4.2 Digital filter
7.4.3 Analysis of Speed control 132
7.5 Position controller settings 135
7.5.1 Pre-control 135
136
7.5.2 Friction torque compensation (friction)
7.6 Synchronous motor field-weakening 138
138
139
139
7.6.1 Variant 1: Default
7.6.2 Variant 2: Modified characteristic
7.6.3 Voltage controller
7.6.4 Field-weakening of asynchronous motor voltage controller 140
7.7 Synchronous motor field-weakening
From firmware 124.20-08 additional document CC41778-001 applies
141
7.7.1 Variant 1 (Table) 142
7.7.2 Variant 2 (Calc) 142
7.7.3 Synchronous motor voltage controller field weakening 143
7.8 Synchronous motor auto commutation 144
7.8.1 IENCC(1) method 146
7.8.2 LHMES(2) method 147
7.8.3 IECON(4) method 148
7.8.4 Test signal generator 149
153
7.9 V/Hz mode
7.10 Process controller 154
7.10.1 Features 154
7.10.2 Description of control structure 154

7.10.3 Rate limiter 157
7.10.4 Parameters 158
7.10.5 Scope signals 159
8 Motion profile 160
1618.1 Settings
8.2 Scaling / units 162
163
168
8.2.1 Standard/CiA 402
8.2.2 SERCOS
8.2.3 User defined 177
8.3 Basic settings 180
8.3.1 PG mode with speed control 180
8.3.2 PG mode with position control 181
8.3.3 IP mode with speed control 182
8.3.4 IP mode with position control 183
8.3.5 Jerk limitation and speed offset 183
8.3.6 Interpolation 185
8.4 Stop ramps 187
8.5 Homing 189
8.5.1 Homing dialog box 189
8.5.2 Method (-13): Absolute encoder 191
8.5.3 Method (-12): Set absolute position (absolute measuring system) 191
8.5.4 Method (-10) and method (-11): Moving to block with zero pulse 192
8.5.5 Methods (-8) and (-9): Move to block 193
8.5.6 Methods (-7) to (0) 194
8.5.7 Method (1) and method (2): Limit switch and zero pulse 194
8.5.8 Methods (3) and (4): Positive reference mark and zero pulse 195
8.5.9 Homing method 5 and 6: Negative reference mark and zero pulse 196
8.5.10 Methods (7) to (10): 197
8.5.11 Methods (11) to (14): Reference mark, zero pulse and negative limit switch 199
8.5.12 Methods (15) and (16) 200
8.5.13 Methods (17) to (30): Reference mark 201
8.5.14 Methods (31) and (32) 202
8.5.15 Methods (33) and (34): With zero pulse 202
8.5.16 Method (35) 203
8.6 Jog mode 203
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Table of contents
8.6.1 Configuration 203
8.6.2 Digital inputs 204
8.6.3 Manual mode window, "Jog mode" tab 204
8.7 Setpoint table 205
8.8 Analog channel (ISA00 and ISA01) 212
8.8.1 Special characteristics of position control mode 213
8.8.2 Wire break monitoring 213
8.9 State machine 215
8.10 Touch probe 217
8.11 Synchronized motion 218
8.11.1 Electronic camming 219
8.11.2 Control word for synchronized motion 221
8.11.3 Status word for synchronized motion 221
8.11.4 Master configuration 222
8.11.5 Electronic gearing 225
8.11.6 Engagement 226
8.11.7 Disengagement 227
8.12 Virtual master 228
8.13 Common master 229
8.14 CAM switch 230
8.15 Data handling 230
9 Input/Output settings 231
9.1 Input/Output settings 231
9.2 Digital Inputs 232
233
234
235
236
236
237
9.2.1 Digital standard inputs
9.2.2 Function selectors
9.2.3 Hardware enable – power stage
9.2.4 Digital virtual inputs
9.2.5 Status of digital inputs
9.2.6 Control selector switching
9.2.7 Power-up sequence
9.2.8 Pulse Direction
From firmware 124.20-08 additional document CC41778-001 applies
238
9.3 Digital outputs 238
9.3.1 Standard digital outputs 238
9.3.2 Function selectors 239
9.3.3 Relay outputs 240

241
241
242
9.3.4 Status of digital outputs
9.3.5 Reference reached REF(6)
9.3.6 SReference limit LIMIT(14)
9.3.7 Switching with motor contactor 242
9.4 Analog inputs 243
9.4.1 Standard analog inputs 243
9.4.2 Function selectors 244
9.4.3 Analog input scaling 245
9.4.4 Profile mode and analog inputs 246
9.4.5 Wire break monitoring 247
9.5 Analog outputs (option for MSD Servo Drive only) 247
9.5.1 Function selectors 248
9.6 Motor brake output 248
9.6.1 Motor brake details 249
10 Limits / thresholds 251
10.1 Settings 251
10.2 Torque / force limits 252
10.3 Speed limits 253
10.4 Position limits 253
10.5 Power Stage 254
11 Alarm & warnings 255
11.1 Warning status 255
11.2 Alarms & warnings (Details) 257
11.3 Warning thresholds 264
11.4 Error display 265
11.4.1 Servo drive display 265
266
266
11.4.2 Moog DriveAdministrator display
11.5 Error reactions
11.6 Error list 269
12 Fieldbus 293
12.1 CANopen/ EtherCAT® 293
12.2 SERCOS 294
12.3 PROFIBUS/ PROFINET 294
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Table of contents
12.4 Synchronization / Configuration 295
12.5 EDS file generator 295
13 Technology options (X8) 296
296
297
297
298
13.1 Selection of modules
13.2 Second Sin/Cos encoder
13.3 Sin/Cos encoder
13.4 TTL with encoder simulation
13.5 SSI encoder simulation 298
13.5.1 Parameters 298
13.6 TwinSync 299
14 Device status 300
14.1 Device status 300
14.2 Status bits 301
14.3 Load factor 301
15 Manual mode 302
15.1 Manual mode window 302
15.2 Manual mode control status 306
16 Device description 307
16.1 Electronic rating plate
16.2 Reloading individual parameters
From firmware 124.20-08 additional document CC41778-001 applies
307
17 Index 311

1Generalinformation
The Moog product CD contains the entire documentation for the relevant product
series. The documentation for each product series includes the Operation Manual
(hardware description), the Device Help (software description), other User manuals
(e.g. fieldbus description) and Specifications. These documents are available in PDF
format, and some of them are available in .NET and HTML5 format as well.
1.1Targetgroup
Dear user,
the documentation is an integral part of the device and contains important
information on operation and service. It is aimed at everyone who performs
mounting, set-up, commissioning and service tasks on the product.
1.2Requirements
Requirements for using Moog devices:
Thedocumentationforthedevicesmustbelegible,accessibleatalltimes
andkeptfortheproduct’sentireservicelife.
Readandunderstandthedocumentationforyourdevice.
Qualifications:Toavoidbodilyinjuryandpropertydamage,onlyqualified
personnelwithelectricaltrainingmayworkwith/onthedevice.
Requiredskillsandknowledge:
-Nationalaccidentpreventionregulations(e.g.VBG4inGermany)
-Howtosetup,install,commissionandoperatethedevice
Work related to other specialized areas, such as transportation, storage and
disposal must be performed exclusively by appropriately trained personnel.
MOOG ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 10
1 General information
NOTE
ThisDeviceHelpappliestotheMSDServoDriveand
MSDSingle-AxisServoDriveCompact.Theseinstructionsarenot
meantasareplacementfortheOperationManualsfortheMSD
ServoDriveorMSDSingle-AxisServoDriveCompact.

1.3Applicabledocumentation
No. Document Contents ID No.: Format
1MSDSingle-AxisServoDriveCompact-Operation
Manual
Safety,deviceinstallation,setup,commissioning,diagnostics,specifications,
certificationsandapplicablestandards,technicaldata CA97555-001 PDF
2 MSDServoDriveSingle-AxisSystem-OperationManual Safety,deviceinstallation,setup,commissioning,diagnostics,specifications,
certificationsandapplicablestandards,technicaldata CA65642-001 PDF
3MSDServoDriveMulti-AxisSystemMSDServoDrive-
OperationManual
Safety,deviceinstallation,set-up,commissioning,diagnostics,STO,operation
withservodriveassupply,planning,applicationexample,specifications,
certificationsandapplicablestandards,technicaldata
CA97554-001 PDF
4 MSDPowerSupplyUnit-OperationManual Safety,deviceinstallation,setup,commissioning,diagnostics,specifications,
certificationsandapplicablestandards,technicaldata CA97556-001 PDF
5 MSDServoDriveDescriptionoftheSTOsafetyfunction
ChangestoOperationManualsMSDServoDrive(Nos.1to3):Hazard
analysisandriskassessment,functiondescription,wiringandcommissioning,
testingtheSTOfunction,safetyparameters
CB19388 PDF
6 MSDServoDriveSpecificationFunctionalsafety Additions and changes to Operation Manuals MSD Servo Drive (Nos. 2 and 3) CB38398-001 PDF
7 MSDServoDrive-SpecificationsecondSin/Cosencoder Connection,configuration CA79903-001 PDF
8 MSDServoDrive-SpecificationSin/Cosencoder Connection,configuration CB13516-002 PDF
9MSDServoDrive-SpecificationTTLencodersimulation/
TTLmasterencoder Connection,configuration CB08758-001 PDF
10 MSDServoDrive-SpecificationTTLencodersimulation/
TTLmasterencoder Connection,configuration CB32164-001 PDF
11 MSDServoDrive-SpecificationSSIencodersimulation Connection,configuration CB08760-001 PDF
Table 1.1: Applicable documents
MOOG ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 11
1 General information

No. Document Contents ID No.: Format
12 MSDServoDrive-SpecificationTTLencoderwith
commutationsignals Connection,configuration CB32162-001 PDF
13
MSDServoDrive-Specificationforsafetechoption
(secondsafeSin/Cosencoder+secondsafeSSIencoder
+secondsafeaxismonitoring(Sin/Cos))
Connection,configuration CC23875-001 PDF
14 MSDPLCManual BasicFunctionalityandLibraries CB15237-001 PDF
Table 1.1: Applicable documents (continue)
NOTE
Forthelatestversionsoftheaforementioneddocuments,pleasecontact [email protected] or visit www.moogsoftwaredownload.com/msd.html
MOOG ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 12
1 General information

1.4Pictograms
The pictograms used in this Device Help have the following meaning for the user:
NOTE
Usefulinformationorreferencestootherdocuments.
Step Action
1.
(Number)
INSTRUCTIONS
Operating step performed by either the user or the system.
For the pictograms for “safety information and warnings” used in this Device Help,
see the Section "Safety information and warnings" on page 15.
1.5Disclaimer
Observing all the instructions and information in the documentation for Moog GmbH
devices is a prerequisite:
forsafeoperationand
toattaintheperformancecharacteristicsandproductcharacteristics
described.
Moog GmbH assumes no responsibility for bodily injury, property damage or
financial losses resulting from failure to observe the information and instructions in
the documentation.
MOOG ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 13
1 General information
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.
Address: MoogGmbH
Hanns-Klemm-Strasse28
D-71034Böblingen
Phone: +497031622-0
E-mail: [e-mail]
If you need service assistance, the Moog specialists will be pleased to be of
assistance.
Service - Please contact us:
Phone: +497031622-0
E-mail: [e-mail]
NOTE
Fordetailedinformationonourservices,pleasevisitourwebsite,
www.moog.com/industrial.

MOOG ID No.: CB40859-001 Date: 02/2018 MSD Servo Drive- Device Help 14
1 General information

2Safety
2.1Overview
Our devices are designed and built with the latest technology and comply with all
recognized safety rules and standards. Nevertheless, there are potential hazards
that may arise during their use. In this chapter:
Weprovideinformationregardingtheresidualrisksandhazardsposedby
ourdeviceswhentheyareusedasintended.
Wewarnyouaboutforeseeablemisuseofourdevices.
Wepointoutthatitisnecessarytoexerciseduecareandcautionandgo
overmeasuresdesignedtominimizerisk.
2.2Foryourownsafety
NOTE
Wheninstallingandcommissioningyourdevice,youmust
observethedocumentationfortherelevantdevicefamily!
Our devices are designed to be fast and easy to operate. For your own safety and to
ensure reliable operation of your machine, take note of the following:
Step Action
1.
Precautions to avoid injury and damage to property
Ensure there is no possibility of bodily injury or damage to the machine
when testing and commissioning the device. To this end, make sure to
observe Section "Safety information and warnings" on page 15 as well.
2.3Safetyinformationandwarnings
Our devices may pose certain hazards. Accordingly, you must observe the following
safety information and warnings.
WARNING! Risk of injury posed by uncontrolled rotation!
Improper conduct can lead to serious injury or death.
Beforecommissioningmotorswithafeatherkeyatthe
shaftend,thekeymustbesecuredtopreventitfrom
beingejectedifthisisnotalreadypreventedbydrive
elementssuchaspulleys,couplings,etc.
CAUTION! Your system/motor may be damaged if put into operation in
an uncontrolled or inappropriate manner.
Improper conduct can cause damage to your system /
machine.
Beforethe“Start”step,makeabsolutelysurethatavalid
setpointhasbeenentered,astheconfiguredsetpoint
willbeimmediatelytransmittedtothemotorafterthe
motorcontrolfunctionstarts,whichmayresultinthe
motoracceleratingunexpectedly.
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2 Safety

CAUTION! Damage to the device as a result of incorrect operation!
Failure to exercise caution or follow proper working
procedures may result in damage to the device.
Themainsvoltageforthepowersupplymustnotbe
switchedonuntilaftertheavailablemainsvoltage
settinghasbeenconfiguredinthedevicefirmwareand
thedeviceisrestarted(intheeventthatthemains
voltageortheswitchingfrequencyhasbeenchanged).
2.4Responsibility
Electronic devices are not fail-safe. The company setting up and/or operating a
complete machine or system is responsible:
Forensuringthatthemotorwillbebroughttoasafestateifthedevicefails.
Forthesafetyofpeopleandequipment.
Forthecompletemachine’sfunctionalcapability.
FortheriskassessmentforthecompletemachineorsystemasperENISO
12100:2011(formerlyENISO14121:2007)andENISO13849-1(formerly
EN954-1).
Observe the section on “Electrical equipment of machines” in EN60204-1:2006,
"Safety of machines”. The safety requirements defined there to be met by electrical
machinery are intended to ensure personal safety and the safety of machinery or
systems.
The emergency-stop function (to IEC/EN60204) shuts down the power supply of
a machine, which leads to uncontrolled rundown of the drives. In order to
prevent hazards, check whether the following will be required:
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2 Safety
lKeepingindividualmotorsrunning.
lInitiatingspecificsafetyprocesses.
lIntegratinganemergencystopfunction(emergencystopfunction:stopping
movementby“switchingofftheelectricalpowersupply”orSTOSafeTorque
Off).

3Initialcommissioning
Chapter overview
Pictogram
Navigation ►Projecttree►DriveSettings►Initialcommissioning
Brief description Theinitialcommissioningforthedrivecanbecarried
outwiththehelpofawizard.Thewizardwilltakeyou
throughtheprocessstep-by-step,ensuringthatthe
availableconfigurationoptionsarepresentedina
clearandmanageablemanner.
Thischapterdescribeshowtheinitialcommissioning
wizardworks.Thiswizardisusedtosetuptheinitial
configurationfortheMSDServoDriveandmakeit
possibletomovetheconnectedmotor.
Contents 3.1 Initial commissioning wizard 17
3.2 Automatic test 22
3.3 Motor 23
3.4 Encoder 24
3.5 Control 24
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3 Initial commissioning
3.1Initialcommissioningwizard
The wizard guides you through the subject areas that are relevant for the initial
commissioning. Correct setting of the parameters permits controlled movement of
the drive via the manual mode window (for details see Section "Manual mode" on
page 302). Further settings must be made to exactly adapt the drive system to an
application.
3.1.1Hardwarerequirements
Correctassemblyandinstallation,inlinewiththeintendeduse,asperthe
instructionsintheapplicableOperationManual(seeSection"Applicable
documentation"onpage11).
Powersupplies
o24Vcontrolvoltage
oMainsvoltage
Hardwareenable
oSafestop(ISDSH)
oEnablePower(ENPO)
3.1.2PromptInitialcommissioning
If Moog DRIVEADMINISTRATOR is opened without an existing project, a prompt to
undertake initial commissioning appears automatically.

Fig. 3.1: Prompt to activate wizard
If this window does not open automatically, you can also start the wizard manually
by double-clicking on the pictogram (see “Chapter overview” in Section "Initial
commissioning" on page 17) or via ►Project tree ►Drive Settings ►Initial
commissioning.
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3 Initial commissioning
3.1.3Initialcommissioning
Fig. 3.2: Commissioning wizard

Step Subject area Action Instruction
Rotary motor Linear motor
1. Settheswitchingfrequencyandthevoltagesupplyofthepowerstage. Matchingthevoltagesupplytotheclock
frequency
2. Selectmotortype(P 450[0])
Setthemotortype(P 450[0])to"PSM(1)
=Permanentmagnetsynchronous
motor"
Selectionofmotortype
3. Setthemotormovement(P 490[0])to
"ROT(0)=Rotatingmotor"
Setthemotormovement(P 490[0])to
"LIN(1)=Linearmotor" Selectionofmotorsystem
4.
Identification:
Measurementofelectricalparameters(resistance,inductivity)
Currentcontrollertuning
Calculationofnominalflux
Datasetcalculation:
Complete"Calculationofcontrolsettings"dialogboxandstartthe
calculation
Identificationorcalculationofmotordata
set
5.
SettheI2xtmonitor
Selectoftemperaturesensor
Characteristicsetting
Motorprotection
6.
Encoderselection
Channelselection Encodersetting
Table 3.1: Instructions for the commissioning wizard
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3 Initial commissioning

Step Subject area Action Instruction
Rotary motor Linear motor
7.
Motorphasetest
Determineencoderoffset
Determinemassinertia
Automatictests
8.
Openthemanualmodewindow
V/Hz(openloop)controlmode
Movemotoratlowspeed
Checkdirection
Motortestinmanualmodewithout
interventionofahigher-levelPLC
9.
Optimizecurrentcontroller(testsignalgenerator).Whenthereisamotor
datasetthecurrentofthetestsignalgeneratorissetautomatically.
Optimizethespeedcontroller
Determinemassinertia[J](basicsettings)
Configurethespeedfilter:P 0351 CON_SCALC_TF = (0.6 ms)
RecommendationforSin/Cosencoder:0.2ms-0.6ms
Recommendationforresolver:1ms-2ms
Adjust control parameters to suit the mechanism (set stiffness).
Configurethecontrollers
Currentcontroller
Speedcontroller
Positioncontroller
10.
Configurethefollowing:
Units
Referencesource
Referenceprocessing
Stopramps
Homingmethod
Motionprofilesetting
Table 3.1: Instructions for the commissioning wizard (continue)
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3 Initial commissioning