P No.
Index Name / Setting
Unit Description
Splinell(3)
Cubic spline interpolation:
Must be explicitly requested from Moog
NonIPSpline(4)
Cubic spline approximation:
In this method, the nodes are approximated by
means of B-splines. The trajectory normally
does not run exactly through the points
specified by the control. The deviation is
normally negligibly small. In the interpolation
points the transitions are continuous with regard
to acceleration, which becomes apparent by
minor "noise". In start and target position the
interpolation points always match the
trajectory.
Application: Minimizing noise, smoother
motion, restrictions on contouring
Cos(5)
Cosine interpolation:
The interpolation formula corresponds to a
Fourier expansion of the unknown interpolants.
Table 8.18: Interpolation types MSD Servo Drive (continue)
When using NonIpSpline, superimposed external feed-forward control can be used.
The controller must write the feed-forward control values to the corresponding
reserved parameters in the relevant bus system. All decelerations should be
disabled in the controller.
P 375[0] - CON_IP_SFFScale and P 376 - CON_IP_TFFScale must be used to
perform the scaling required for the internal units. The result can be viewed in the
scope by using scope variables 101 - nref_EXT and 102 - mref_EXT. If the scaling
appears to be OK, use P 379 - CON_IP_FFMode to switch to the external feed-
forward control.
MOOG
ID
No.:
CB40859-001
Date:
02/2018
MSD Servo Drive - Device Help
187
8 Motion profile
8.4 Stop ramps
Fig. 8.37: “Stop ramps” screen
Each reference source has its own acceleration and braking ramps. There are also
the stop ramps (quick-stop ramp), according to the CiA 402 standard. The ramp
functions are only effective in certain system states. The required settings can be
selected from the dialog box.
Clicking the "Error/Error reactions" button directly
accesses the dialog box for the error reactions.
Stop ramps in torque control
When in torque control mode (TCON), if one of the following occurs:
The control is shut down
The setpoint is disabled
Stop
Quick stop
Error
the set ramps will be performed in rpm.
