ID
Index Name
Unit
Description
PosScaleFac
(profile-independent)
287
0
MPRO_FG_
SpeedUnit
Unit for speed values
288
0
MPRO_FG_SpeedExp
Factor group: Velocity unit exponent
(profile-independent)
289
0
MPRO_FG_
SpeedScaleFac
Factor group: Velocity unit scaling factor
(profile-independent)
290
0
MPRO_FG_AccUnit
Unit for acceleration and deceleration
values
291
0
MPRO_FG_AccExp
Factor group: Acceleration unit exponent
(profile-independent)
292
0
MPRO_FG_
AccScaleFac
Factor group: Acceleration unit scaling
factor (profile-independent)
293
0
MPRO_FG_
TorqueUnit
Unit for torque values
294
0
MPRO_FG_
TorqueExp
Factor group: Torque unit exponent
(profile-independent)
295
0
MPRO_FG_
TorqueScaleFac
Factor group: Torque unit scaling factor
(profile-independent)
298
0
MPRO_FG_
UsrActPosDly
ms
Actual position delay (multiple of CON_
PConTS)
Table 8.14: “Standardization / units - Custom” parameters (continue)
8.2.3.1 Example of scaling of a rotary motor
Presetting
1 motor revolution corresponds to 360° or 1048576 increments
Speed in [rpm]
Acceleration in [rpm/s]
Positioning in [°degrees]
Given
Position unit
P 0284 MPRO_FG_PosUnit
= [µm]
Speed unit
P 0287 MPRO_FG_SpeedUnit
= [m/s]
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
178
8 Motion profile
Acceleration unit
P 0290 MPRO_FG_AccUnit
= [m/s2]
Feed constant: 0.1 mm = 1 rev
Gearing: 1 drive revolution = 3 motor revs
Parameter configuration
P 0284 MPRO_FG_PosUnit
= 1 µm = 1/1000 mm = 10/1000 rev (output) =
30/1000 rev (motor)
P 0271 MPRO_FG_Nom
= 3
P 0272 MPRO_FG_Den
= 100
P 0287 MPRO_FG_SpeedUnit
= 1 m/s = 1000 mm/s = 10 000 rev/s (output) =
30 000 rev/s (motor)*60 (min) = 1 800 000 rev/min
P 0275 MPRO_FG_SpeedFac
= 1 800 000
P 0290 MPRO_FG_AccUnit
= 1 m/s2 = 1000 mm/s = 10 000 rev/s (output) =
30 000 rev/s2 (motor)*60 (min) = 1 800 000 rev/min
ID
Name
Function
Default
rotary system
270
MPRO_FG_
PosNom
Increments per
revolution
1048576 [incr/rev]
271
MPRO_FG_Nom
Numerator
1[rev]
272
MPRO_FG_Den
Denominator
360° [POS]
273
MPRO_FG_
Reverse
Reverse direction
False = clockwise
274
MPRO_FG_
SpeedFac
Speed factor
1[rpm]
275
MPRO_FG_AccFac
Acceleration factor
1/60 = 0.01667
[rpm/s]
Table 8.15: Parameters for user-defined scaling (rotary system)
