P No.
Index Name / Setting
Unit Description
593
0
ENC_ACOR_PosDelta
Interpolation point pitch: The positions at which
the correction interpolation points are plotted are
defined via parameters
P 0593 ENC_ACOR_
PosDelta
Interpolation point pitch and
P 0591
ENC_ACOR_PosStart
Start position. Between
the correction interpolation points, the
correction values are calculated by cubic spline
interpolation.
594
0
ENC_ACOR_Val
Actual position
595
0-250 ENC_ACOR_VnegTab
Values of the correction table for negative
direction of rotation in user units.
596
0-250 ENC_ACOR_VposTab
Values of the correction table for positive
direction of rotation in user units.
Table 6.34: Axis correction parameters (continue
)
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
98
6 Encoder
Step
Action
1.
Use
P 530 - ENC_Encoder1Sel
to select the channel for SERCOS: 1.
Encoder
2.
Use
P 531 - ENC_Encoder2Sel
to select the channel for SERCOS: 2.
Encoder
3.
Selection of the encoder whose actual position value is to be changed,
with
P 590 - ENC_ACOR_Sel
4.
Enter interpolation point pitch in
P 593 - ENC_ACOR_PosDelta
5.
The correction values are determined using a reference measurement
system (e.g. laser interferometer). The interpolation points for the various
directions within the desired correction range are approached one after
another and the corresponding position error is measured.
6.
The interpolation point-specific correction values are entered manually in
tables
P 595 - ENC_ACOR_VnegTab
(neg. direction) and
P 596 - ENC_
ACOR_VposTab
(pos. direction).
7.
Save values
8.
Restart the device
9.
P 592 - ENC_ACOR_PosEnd
now shows the position end value of the
correction range.
10.
Start control (in position control execute homing) and then move to any
position.
11.
The momentary correction value is written to
P 594 - ENC_ACOR_Val
.
This value is subtracted from the approached position value. This applies
to all positions. End position = interpolation point pitch multiplied by
number of interpolation points (table values) + start position (only if start
position ≠ 0).
Table 6.35: Axis correction procedure
