6.1.3 Actual values at the encoder channel outputs
6.2 Encoder selection
6.3 Encoder offset
6.4.1 Connector for resolver (X6)
6.4.2 Connector for high-resolution encoders (X7)
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
6.6.1 Compensation for long resolver cables
6.6.2 Signal correction GPOC (Gain Phase Offset Correction)
6.7 Channel 3: Interface X8 (optional)
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
6.8 Channel 4: Virtual encoder
6.8.1 Sensorless control synchronous motor
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
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
7
Table of contents
7.1 Control structure overview
7.2.1 Motor control basic settings
7.3.1 Current controller optimization
7.3.2 Creating the transfer function
7.3.3 Current actual value filter
7.3.4 Detent torque compensation
7.3.6 Torque control with defined bandwidth
7.5 Position controller settings
7.5.2 Friction torque compensation (friction)
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
From firmware 124.20-08 additional document CC41778-001 applies
7.7.3 Synchronous motor voltage controller field weakening
7.8 Synchronous motor auto commutation
7.8.4 Test signal generator
7.9 V/Hz mode
7.10 Process controller
7.10.2 Description of control structure
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