Moog MSD Servo Drive Referenzhandbuch

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. 4.0

Information valid as of: 11/2020

Effective as of firmware version

lV124.30-xx(MSDSingle-AxisServoDriveCompact)

lV124.30-xx(MSDServoDriveSingle-AxisSystemandMulti-AxisSystem)

lV174.30-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

DRIVEADMINISTRATOR 5 Version 5.6.

The German version is the original version of this documentation.

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 2

Legalinformation

Subject to technical change without notice.

This Operation Manual has been prepared based on DINEN82079-1. The content

was compiled with the greatest care and attention and reflects 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. For information

on the latest version please visit drives-support@moog.com.

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: 11/2020 MSD Servo Drive- Device Help 3

Legal information

Tableofcontents

Legal information 3

Table of contents 4

1 General information 9

1.1 Target Group 9

1.2 Requirements 9

1.3 Pictograms 10

1.4 Exclusion of liability 11

1.5 Applicable documentation 12

1.6 Technical Helpline 14

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

4.1 Power stage settings 25

4.1.1 Voltage supply 26

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 4

Table of contents

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 Detection of a voltage failure 28

4.2.2 Monitoring for single-phase failure 31

5 Motor 32

5.1 Motor configuration data 32

5.2 Synchronous motor 33

5.2.1 Synchronous motor electronic data 35

5.3 Linear synchronous motor 36

5.3.1 Linear synchronous motor electronic data 37

5.4 Asynchronous motor 38

5.4.1 Asynchronous motor electrical data 39

5.5 Motor protection 40

5.5.1 Temperature sensors 40

5.5.2 I²t monitoring synchronous motor 43

5.5.3 Asynchronous motor I²t monitoring 44

5.6 Motor identification 45

5.6.1 Synchronous motor identification (rotary and linear) 46

5.6.2 Asynchronous motor identification 46

5.7 Support for motor filters when using PMSM motors 47

5.7.1 General functional description 47

5.7.2 Configuration 48

5.7.3 Parameters 49

5.7.4 Scope signals 50

6 Encoder 51

6.1 Introduction 52

6.1.1 Limiting for EnDat and SSI 52

6.1.2 Encoder gearing 52

6.1.3 Actual values at the encoder channel outputs 52

6.2 Encoder selection 53

6.3 Encoder offset 55

6.4 Connections and pin assignations 55

6.4.1 Connector for resolver (X6) 56

6.4.2 Connector for high-resolution encoders (X7) 56

6.5 Channel 1: Interface X7 59

6.5.1 Main parameters for encoder channel Ch1 60

6.5.2 EnDat (cyclical)X7 61

6.5.3 Hall sensor X7 62

6.5.4 Sin/Cos / TTLX7 63

6.5.5 SSI (cyclical)X7 69

6.5.6 Encoder gearing 71

6.6 Channel 2: Interface X6 72

6.6.1 Compensation for long resolver cables 73

6.6.2 Signal correction GPOC (Gain Phase Offset Correction) 74

6.6.3 Encoder gearing X6 75

6.7 Channel 3: Interface X8 (optional) 76

6.7.1 Main parameters for encoder channel Ch3 80

6.7.2 Absolute value interfaces X8 82

6.7.3 EnDat (cyclical)X8 82

6.7.4 Hall sensor X8 82

6.7.5 Sin/Cos / TTLX8 82

6.7.6 SSI (cyclical) X8 87

6.7.7 Encoder gearing 89

6.8 Channel 4: Virtual encoder 90

6.8.1 Sensorless control synchronous motor 91

6.8.2 Sensorless asynchronous motor control 97

6.9 Redundant encoder 100

6.10 Axis correction 100

6.11 Oversampling 104

6.12 Multi-turn encoder as a single-turn encoder 104

6.13 Increment-coded reference marks 105

6.14 Overflow in multi-turn range 106

6.15 Zero pulse test 107

7 Control 108

7.1 Overview of control structure 108

7.1.1 Setting 109

7.2 Basic settings 110

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 5

Table of contents

7.2.1 Motor control basic settings 110

7.2.2 Automatic inertia detection 111

7.3 Torque controller 113

7.3.1 Current controller optimization 113

7.3.2 Creating the transfer function 114

7.3.3 Decoupling 115

7.3.4 Current actual value filter 115

7.3.5 Detent torque compensation 115

7.3.6 Advanced torque control 125

7.3.7 Torque control with defined bandwidth 129

7.3.8 Enhanced feed forward control of voltage 129

7.4 Speed controller 131

7.4.1 Advanced speed control 133

7.4.2 Digital filter 136

7.4.3 Analysis of Speed control 137

7.5 Position controller settings 140

7.5.1 Pre-control 140

7.5.2 Friction torque compensation (friction) 141

7.6 Asynchronous motor field weakening 143

7.6.1 Variant 1: Default 143

7.6.2 Variant 2: Modified characteristic 144

7.6.3 Voltage controller 144

7.6.4 Field-weakening of asynchronous motor voltage controller 145

7.7 Field weakening and LookUpTable (LUT), synchronous motor 146

7.7.1 Variant 1 (Table) 148

7.7.2 Variant 2 (Calc) 148

7.7.3 Variant 4 (TableMotGen) 149

7.7.4 Variant 5 (TABLE2) 149

7.7.5 Variants 3 and 6 (LUT) 150

7.7.6 Field-weakening of synchronous motor voltage controller 156

7.8 Synchronous motor auto commutation 156

7.8.1 IENCC(1) method 158

7.8.2 LHMES(2) method 159

7.8.3 IECON(4) method 160

7.8.4 Test signal generator 161

7.9 V/Hz mode 165

7.10 Process controller 166

7.10.1 Features 166

7.10.2 Description of control structure 167

7.10.3 Rate Limiter 171

7.10.4 Parameters 172

7.10.5 Scope signals 173

7.11 Hydraulic control 173

7.11.1 Basic setting 173

7.11.2 Pump setting 174

7.11.3 Signal setting 179

7.11.4 Hydraulic Limitations 184

7.11.5 Cylinder configuration 188

7.11.6 Hydraulic Motion profile 190

7.11.7 Pressure control 196

7.11.8 Volumetric flow rate control 198

7.11.9 Speed control 201

7.11.10 Position control 203

7.11.11 Digital filter Hydraulics 207

7.11.12 Example: Pressure and pump speed control 208

7.11.13 Example: Hydraulic position control 214

8 Motion profile 221

8.1 Settings 222

8.2 Scaling / Units 223

8.2.1 Standard/CiA 402 224

8.2.2 SERCOS 229

8.2.3 User defined 238

8.3 Basic settings 241

8.3.1 PG mode with speed control 241

8.3.2 PG mode with position control 242

8.3.3 IP mode with speed control 243

8.3.4 IP mode with position control 244

8.3.5 Jerk limitation and speed offset 244

8.3.6 Interpolation 246

8.4 Stop ramps 248

8.5 Homing 249

8.5.1 Homing screen 249

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 6

Table of contents

8.5.2 Method (-13): Absolute encoder 251

8.5.3 Method (-12): Set absolute position (absolute measuring system) 252

8.5.4 Method (-10) and Method (-11): Move to block with zero pulse 252

8.5.5 Method (-8) and (-9): Move to block 253

8.5.6 Method (-7) to (0) 254

8.5.7 Method (1) and Method (2): limit switch and zero pulse 255

8.5.8 Method (3) and (4): Positive reference mark and zero pulse 256

8.5.9 Homing methods 5 and 6: Negative reference mark and zero pulse 257

8.5.10 Method (7) to (10): 258

8.5.11 Method (11) to (14): Reference mark, zero pulse and negative limit switch 259

8.5.12 Methods (15) and (16) 261

8.5.13 Method (17) to (30): Reference mark 261

8.5.14 Methods (31) and (32) 262

8.5.15 Method (33) and (34): with zero pulse 263

8.5.16 Method (35) 263

8.6 Jog mode 264

8.6.1 Configuration 264

8.6.2 Digital Inputs 264

8.6.3 Manual mode window, "Jog mode" tab 265

8.7 Reference table 265

8.8 Analog channel (ISA00 und ISA01) 270

8.8.1 Special characteristics of position control mode 271

8.8.2 Wire Break Monitoring 271

8.9 State machine 273

8.10 Touch probe 275

8.11 Synchronized motion 276

8.11.1 Electronic cam plate 277

8.11.2 Control word for synchronized motion 279

8.11.3 Status word for synchronized motion 279

8.11.4 Master configuration 280

8.11.5 Electronic gearing 283

8.11.6 Engagement 284

8.11.7 Disengagement 285

8.12 Virtual Master 286

8.13 Common master 287

8.14 Cam group (CAM switch) 288

8.15 Data handling 288

9 Inputs/Outputs settings 289

9.1 Inputs/Outputs settings 289

9.2 Digital inputs 290

9.2.1 Digital standard inputs 291

9.2.2 Function selectors 292

9.2.3 Hardware enable – power stage 293

9.2.4 Digital virtual inputs 294

9.2.5 Status of the digital inputs 294

9.2.6 Control selector switching 294

9.2.7 Power-up sequence 295

9.2.8 Pulse direction 296

9.3 Digital Outputs 298

9.3.1 Standard digital outputs 298

9.3.2 Function selectors 298

9.3.3 Relay outputs 300

9.3.4 Digital input states 300

9.3.5 Reference reached REF(6) 301

9.3.6 Reference limitation LIMIT(14) 301

9.3.7 Switching with motor contactor 302

9.4 Analog Inputs 303

9.4.1 Standard analog inputs 303

9.4.2 Function selectors 304

9.4.3 Analog input scaling 305

9.4.4 Profile mode and analog inputs 306

9.4.5 Wire Break Monitoring 306

9.5 Analog outputs (option only for MSD Servo Drive) 307

9.5.1 Function selectors 307

9.6 Motor brake output 308

9.6.1 Motor brake details 309

10 Limitations / Thresholds 310

10.1 Settings 310

10.2 Torque- / force limits 311

10.3 Speed- / velocity limits 312

10.4 Position limitation 312

10.5 Power stage 313

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 7

Table of contents

11 Alarms & warnings 314

11.1 Warning status 314

11.2 Alarms and warnings (Details) 316

11.3 Warning thresholds 323

11.4 Error display 324

11.4.1 Servo Drive display 324

11.4.2 Display in the Moog DriveAdministrator 5 324

11.5 Error reactions 325

11.6 Error list 328

11.6.1 Error 0: Unknown error 328

11.6.2 Error 1: Runtime error 328

11.6.3 Error 2: Parameter list error 330

11.6.4 Error 3: Undervoltage error 334

11.6.5 Error 4: Overvoltage error 334

11.6.6 Error 5: Overcurrent error 335

11.6.7 Error 6: Motor temperature error 339

11.6.8 Error 7: Device heatsink temperature error 341

11.6.9 Error 8: Device inside temperature error 341

11.6.10 Error 9: I2t motor error 342

11.6.11 Error 10: I2t power amplifier error 342

11.6.12 Error 11: External digital input error 343

11.6.13 Error 12: CAN error 344

11.6.14 Error 13: SERCOS error 347

11.6.15 Error 14: EtherCAT error 352

11.6.16 Error 15: Parameter error 354

11.6.17 Error 16: Speed difference error 362

11.6.18 Error 17: Position difference error 363

11.6.19 Error 18: Motion control error 363

11.6.20 Error 19: Fatal error 366

11.6.21 Error 20: Hardware limit switch error 372

11.6.22 Error 21: Initialization, common error 373

11.6.23 Error 22: Encoder channel 1, initialization error 379

11.6.24 Error 23: Encoder channel 2, initialization error 389

11.6.25 Error 24: Encoder channel 3, initialization error 390

11.6.26 Error 25: Encoder cyclic process, common error 397

11.6.27 Error 26: Encoder channel 1, cyclic process error 398

11.6.28 Error 28: Encoder channel 3, cyclic process error 399

11.6.29 Error 30: Control initialization error 400

11.6.30 Error 31: PLC error 402

11.6.31 Error 32: PROFIBUS/PROFINET error 403

11.6.32 Error 33: Internal timing error 404

11.6.33 Error 34: Powerfail funkction error 406

11.6.34 Error 35: Encoder monitoring error 407

11.6.35 Error 37: Syncronization controller error 413

11.6.36 Error 38: Braking chopper error 413

11.6.37 Error 39: TWIN monitoring error 413

11.6.38 Error 40: Tech option error 416

11.6.39 Error 41: Fast discharge monitoring error (dc-link) 420

11.6.40 Error 43: Ethernet error 420

11.6.41 Error 44: Wire break, common error 421

11.6.42 Error 45: Lock violation error 421

11.6.43 Error 46: Position limit error 423

11.6.44 Error 47: Functional safety, common error 426

11.6.45 Error 49: Safety system error 427

11.6.46 Error 51: Encoder status, common error 435

11.6.47 Error 52: Analog inputs error 436

11.6.48 Error 53: Motor failure error 436

11.6.49 Error 54: Power grid failure error 436

11.6.50 Error 55: Speed guarding error 437

11.6.51 Error 57: reserved 437

11.6.52 Error 58: HYDRAULIC, common error 437

11.6.53 Error 60: Spindle clamping system monitoring error 437

11.6.54 Error 61: End damping error 438

11.6.55 Error 62: Battery buffered encoder 438

11.6.56 Error 63: Error brake monitoring 439

12 Fieldbus 440

12.1 CANopen/ EtherCAT® 440

12.2 SERCOS 441

12.3 PROFIBUS/ PROFINET 441

12.4 Synchronization / Configuration 442

12.5 EDS file generator 442

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 8

Table of contents

13 Technology options (X8) 443

13.1 Selection of modules 443

13.2 Second Sin/Cos encoder 444

13.3 Sin/Cos encoder 444

13.4 TTL with encoder simulation 445

13.5 SSI encoder simulation 445

13.5.1 Parameters 445

13.6 TwinSync 446

14 Device status 447

14.1 Device status 447

14.2 Status bits 448

14.3 Load factor 448

15 Manual mode 449

15.1 Manual mode window 449

15.2 Manual mode control status 450

16 Drive description 451

16.1 Electronic rating plate 451

17 Enhanced/additional functions 455

17.1 Reloading individual parameters 455

17.1.1 Parameters used 455

17.1.2 Parameter list 456

17.1.3 Procedure 457

17.2 Upload and download of parameter data sets 459

17.2.1 Write parameter data set to the file system 459

17.2.2 Loading the parameter data set from the file system 460

18 Index 461

1Generalinformation

The product CD from Moog contains the complete documentation for the respective

product series. The documentation of a product series includes Operation Manual

(hardware description), Device Help (software description) and 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

Important points to be observed when handling the devices from Moog:

lThedevicedocumentationmustbekeptreadable,alwaysavailable,and

throughouttheproduct’sservicelife.

lReadandunderstandthedocumentationforyourdevice.

lQualification:Toavoidbodilyinjuryandpropertydamage,onlyqualified

personnelwithelectricaltrainingmayworkwith/onthedevice.

lRequiredskillsandknowledge:

-nationalaccidentpreventionrules(e.g.DGUVV3inGermany)

-Howtosetup,install,commissionandoperatethedevice

Work related to other specialised areas, such as transportation, storage and

disposal must be performed exclusively by appropriately trained personnel.

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 9

1 General information

NOTE

lThis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Pictograms

The pictograms used in this Device Help have the following meaning for the user:

NOTE

lUsefulinformationorreferencestootherdocuments.



lReferencetofurtherapplicabledocuments.

Step Action

(Number)

HANDLING 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.

MOOG ID No.: CB40859-001Date: 11/2020 MSD Servo Drive- Device Help 10

1 General information

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