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MSD 3200 Parameter Description

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1. Number Of Cycles Neyc P1502 0 Output Signal Selection P1501 0 Duration of testsignal Neyc t1 to Star Sto Fig 5 2 13 1 Parameters for the test signal generator P 1506 Output Period time SCD_TSIG_Freq Amplitude P 1503 01 SCD_TSIG P 1503 00 Offset 1 SCD_TSIG Offset 0 Y P 1505 SCD_TSIG_Amp P 1504 00 P 1504 01 SCD_TSIG SCD_TSIG Time 0 Time 1 Fig 5 2 13 2 Addition of square and sinusoidal signal MSD 3200 Parameter Description 80 6 Inputs output I Os 6 1 Digital inputs Digit Inputs Digit Inputs ENPO ISDSH ISDxx ENPO ISDSH ISDOO ISD01 ISD02 ISDO3 ISD04 ISDO5 ISDO6 Terminal digital KO Settings OFF 0 g START 1 el Inv 2 i K sToP TAB1 24 TAB2 25 TAB3 26 Fig 6 1 1 Function selector of the digital inputs MOOC Chapter 6 6 1 1 Function selectors of the digital inputs P 0100 RSI a ae eel MPRO_INPUT_FS_ENPO Value range OFF START Data type a arz Hardware enable and motor start via ples ENPO ON Function selector for input Hardware enable ENPO MSD 3200 Parameter Description 81 MOOC Function of digital input ISDOO to ISDO6 w IO S C IC E H we ION ION EEN INN p control current is applied to the mo START tor the direction depends on the reference value reserve Reserved UICK STOP as per quick stop response STOP Q per q p resp Low active
2. FEED HOLD The ongoing axis movement is MPRORING Witt SIS interrupted as per the HALT response and resumed following resetting LIMIT SWITCH EVALUATION RIGHT Limit switch evaluation without override pro tection the response to interchanged limit switches is programmable LIMIT SWITCH EVALUATION LEFT Limit switch evaluation without override pro tection the response to interchanged limit switches is programmable JOG IN POSITIVE DIRECTION In manual positioning mode an axis can be moved at slow or quick jog speed MSD 3200 Parameter Description 82 Function of digital input ISDOO to ISDO6 MPROSINEOTIE EIR 006 P 0101 to P 0107 EN slow or quick jog a ee T HOMST method set in P 2261 E O 10 HOMSW ee positioning EXTERNAL ERROR Error messages from 11 E Ext external devices produce an error message with response as defined in P 0030 RESET ERROR Error messages are reset with a rising edge Attention The error must 13 RSERR l l no longer be occurring when the reset is performed TOUCHPROBE The Touchprobe function 15 PROBE should only be used for the two fast inputs ISDO5 and ISDO6 INPUT USABLE IN SEQUENCE PROGRAM 16 PLC inputs can always be read regardless of the setting MOTOR POTENTIOMETER Increase reference 18 MP_UP value MOTOR POTENTIOMETER Reduce reference 19 MP_DOWN AE OS CE 20 JOG IN NEGATIVE DIRECTION In manual positioning mode an axis can be move
3. MSD 3200 Parameter Description 77 Chapter 5 MOOC 5 2 13 Test signal generator P 1500 Test signal generator Se TIE Con control word wo O S ka IO a S C Od H P 1501 Test signal generator SCD_TSIG_OUTSel output signal selector MSD 3200 Parameter Description 78 output signal selector Selector for test signal generator output w IS A S C IN O H wae Test signal generator offsets for rectangular wave __ i SCD_TSIG_Offset Unit AAA wie Cd Offset for square wave signal T Test signal generator S l SCD_TSIG_Time initial phase for rotating current SCD_TSIG_SetPhase offsets tor rectangular wave ae e H H CHH H H Times for square wave signal Start phase of current vector in VFCON and ICON mode Es mpg es mapping o we Cd Setting of clock time for the PRBS signal generator L Test signal tOr P 1506 See one SCD_TSIG_Freq P 1509 Sia ea ae SCD_TSIG_PRBSAmp frequency of sinusoidal wave PRBS signal amplitude er E Setting of frequency for a sinusoidal signal Setting of amplitude for the PRBS signal generator MOOC MSD 3200 Parameter Description 79 Chapter 5 MOOC _ Tp AE wH FRDO 2000 01 UO a Step 1 P1504 0 Period Time Tp P1505 0 Amplitude a P1509 0 Step 2 P1504 1 Amplitude As P1506 0 Cycletime TprBs _P1508 0 Time ty P1504 0 Time to P1504 1
4. Selection for high resolution external SinCos encoder connection to X8 Selection of the encoder channel to use for speed control P 0522 Encoder Channel Select for Positi ENC PCon on Control CH H H CHH H H We Setting Function pm FF Noencoderselecte Selection for high resolution SinCos encoder connection to X7 CH1 Selection of a resolver connection to X6 Selection for high resolution external SinCos encoder connection to X8 CH2 CH3 Selection of the encoder channel to use for position control P 0523 Encoder u i for Mas ENC ean wo IO a S e II H H C Od H 1 Selection for high resolution SinCos encoder connection to X7 Selection of a resolver connection S dis to X6 Selection for high resolution external SinCos encoder connection to X8 If an encoder is to be used as the master encoder the channel to use is selected here P 0349 comutation offset of resp CON _FM_MConOffset encoder 3 CH3 so po o wee o w o e y o S Write Encoder offset MOOC 4 2 SinCos X7 channel 1 Pone rea ees II FE 1 _ _ Selection of a high resolution SinCos encoder Configuration of the incremental interface A __ENCACHT Line CTO O AA A O A Setting of the incremental number of lines For encoders with the EnDat 2 1 and Hipertace protocols the number of lines is read from the encoder and automatically parameterized
5. SinCos MSD 3200 Parameter Description Se Chapter 4 MOOC P 0510 Encoder G Gear Nomi ENC_CH1_Num Read Write Numerator of transmission ratio for the encoder gearing e g adaptation of a load side encoder to the motor shaft P0511 Encoder Channel 1 Gear Deno ENC_CH1_Denum minator FS 1 Mapping No Read Write Denominator of transmission ratio for the encoder gearing e g adaptation of a load side encoder to the motor shaft P 0540 Encoder Channel 1 Absolute ENC_CH1 Abs Position Interface Select Value range OFF Hiper Data type AAA MSD 3200 Parameter Description 54 Encoder Channel 1 Absolute P 0540 S SEI TS Position Interface Select Value Setting Function Purely incremental encoder without absolute 0 OFF value information 41 se Heidenhain SSI protocol inout of number of lines multi and single turn information Evaluation based on Heidenhain EnDat 2 ENDAT2 1 protocol Evaluation based on Stegmann Hiperface 3 HIPER protocol To obtain correct evaluation of the absolute position this parameter must be set to the encoder protocol method used For absolute value encoders which use EnDat 2 1 or Hiperface the single and multi turn information the coding and the number of lines are read from the encoder see parameters P 0542 P 0543 P 0544 P 0545 Encoder Channel 1 Index Puls O E Ebene Function 4 2 1 Encoder correction GPOC For each channel a correction method
6. Actual position so q o mig e C H H CHH H CHH H apan reference SSCS Position reference Actual position difference RefPo sition ActPosition rT Mapping ves m TT ead we T P 0415 Actual speed CON_SCALC_ActSpeed R EINEN H o we S Actual speed C 5 so mim e w H H H CHH H H CH H H MOOC Chapter 12 Actual speed difference P 0417 TD esei CONTPECONESDit Value range 2147483648 to 2147483647 Data type float32 pom EE a O ee Reference actual variation of the current speed P 0418 Reference torque CON_SCON_RefTorque wo po ag to GHH H H CHH H H CHH H H P 0419 Actual torque CON_SCON_ActTorque so Do ping te C OI FEO ead S S we SP S MSD 3200 Parameter Description IMA MOOC P 0700 Actual current rms MON_CurrentRMS june IO Actual current Monitoring actual values of mo P 0701 tor and inverter Index 00 12t_integrator for motor protec tion MON_ActValues 12t_Motor Value range 3 4E 38 to 3 4E 38 FS Read Write Current state of t integrator for motor protection Monitoring actual values of mo P 0701 tor and inverter Index 01 t_integrator for inverter protection Value range 3 4E 38 to 3 4E 38 Data type float32 ee write Current state of I t integrator for device protection MON_ActValues 12t_Inverter MSD 3200 Parameter Description 112 Monitoring actual values of mo r and inverter Index 02 ES IPhasor actual motor current ampl
7. Mapping No uint16 Function No control location selected Control via terminal Control via Moog Drive Administrator Not defined Control via PLC IEC 61131 Control via DS 402 motion profile CANopen EtherCAT Control via SERCOS Control via PROFIBUS MPROEREF SEL Data type uint16 Mapping No Function No reference source Analog input ANAO Analog input ANA1 Table values the reference values are to be transferred from the controller to the drive P 0166 MPRO_REF_JTIME Esa Mapping e AR HT Coo T E we E A As a result of the jerk limitation the acceleration and deceleration times are increased by the smoothing time JTIME P 0167 Motion os override MPRO_REF_OVR Fon H feat o gt o A E we ICI SCO Percentage weighting of the current applied velocity reference MSD 3200 Parameter Description BS Chapter 3 MOOC w a H ka ooo O FE S C AE E Two methods of reference value generation are available Firstly reference generation by way of the Profile Generator PG and secondly transfer of reference values directly to the Fine Interpolator IP This enables time optimized positioning of a single axis to be realized 1 PG O The internal reference generation is effected by way of the so called Profile Generator In it all ramp functions such as ramps jerk and smoothing are implemen ted The internal generation is always executed at a sampling time of 1 ms 2 1P 1 The reference input of the higher
8. 23 oo T 27 2l Scaling Standardization UNIS esis NEA N A ea reii 27 3 1 1 Description of user specific scaling parameters oooooooononococonnnononononnnnononononononos 27 e ROO os 31 EN ot 32 A on A za 32 E ne el sio 35 A rei EEE e ir A 38 39 a Po e nsbiverteaissaphindlimmunbianieaiadtidadia shies 40 30 A AA iuobienelieindeitasanthets 41 MOOC 3 6 1 Driving sets for max 16 torque reference Values ccccccccccconocccccncncnncncncnnnnononenos 41 3 6 2 Driving sets for max 16 speed reference Values oooooooooncoccococococonononnononononononos 42 3 6 3 Driving sets for max 16 position reference values 42 37 Analog channel ANAO Ui cuentos 44 3 8 State machine DRIVECOM corria iaa ideales 48 4 Encoder Interfaces 51 AN The encoder y raen toi ins 51 Ae o s Ta iee e E E A ceed tuiast 53 421 Encodercorecion SPD 55 43 Resokerxo chdanne 2 ais 58 4A Encoder ORTON XS Channel rra 59 MSD 3200 Parameter Description 7 Contents MOOC o nn A 61 Alo oe Le col poko eo go AA e o o A 61 e Control Da Mesta ion eter ee 62 S21 VFC mode open lt tario oibes 62 Seay o TT 63 See mee EE SS Seen re ee eee n 63 ee o ETT 64 5 2 5 Digital filter Notch filter in pre control branch of control structure 65 A i ETT 67 tk A A A 71 A a o An PPP 72 A oo A e 74 ez MO EMI STONING sir nace vis A N esaea E A bears sna tietestatearcan cuit 76 5 213 Testsignal generator sedeer isenana aias
9. MOOC Speedvalue for mag current scaling Value range 10 1000 Data type float32 CON_FM_SpeedTab L A The current matching the speed table element P0342 Index xx Is injected Then the current is interpolated by way of the speed in linear mode between the interpolation points The speeds in the parameter must become continuously higher from index 00 to 07 Mag current scaling vs speed CON_FM_ImagTab O G A II Scaling for the magnetization current Voltage as time cons CON FM_VConTF O O O IO A o Filter time for the Pl voltage regulator MSD 3200 Parameter Description E Chapter 5 MOOC rs o mag o w fw f SSS ka o o s S we TCO P gain for the Pl voltage regulator P 0346 Voltage control integration time CON_FM_VContn constant CH H H CHH H CHH H P 0347 Voltage control reference Scaling CON_FM_VRef of max voltage With this parameter the voltage reference Is preset The threshold must be reduced as the dynamic requirements rise as this provides a kind of voltage reserve for dynamic control operations MSD 3200 Parameter Description 72 P 0348 Slip control SE tield weake CON_FM_SlipCon wo IS AAA Gain of position controller 5 2 8 Position control ECT Pm SC CHH H H CHH H H aana SSCS Gain of slip control P 0372 Speed feedforward filter for posi CON_IP_SFFTF P 0376 Torque Force feedforward scaling CON_ IP TFFScale tion control factor 0 0 Scaling factor for t
10. of the device We hope you will enjoy working with this device MSD 3200 Parameter Description 9 MOOC MSD 3200 Parameter Description 10 Parameter overview with all information Key Parameter name Summary description Parameter no a P 0302 N CON_SwitchFreq N Switching Frequency Wertebereich 2 kHz bis 16 kHz Datentyp unit16 WE 8 kHz Mapping nein Header data Einheit kHz Key to parameters A E Schreib Ebene 1 EA l l l l Wert Einstell Funkti The individual parameter tables see illustration on right contain the following information nn ea E Setting range U 4 kHz 1 Parameter number and index An index is only given for field parameters function 14 ome Taktfrequenz der Endstufe 3 8 kHz 3 Parameter designation from This information is to be found in the Moog Drive 4 12 kHz 4 F wet Bho i 5 16 kHz 5 Moog Drive Administrator 5 x Administrator under Introduction s 7 y s Die Hohe der Endstufen Taktfrequenz tr gt wesentlich zur Laufruhe und Ger uschentwicklung Short name of parameter Detailed e Parameter name description Allgemein gilt Die Laufruhe nimmt riali elnare Taktfrequenz zu der Ger uschpegel nimmt ab e g CON _SwitchFreq Dieser Vorteil wird jedoch durch eine h here Verlustleistung Derateing erzwungen I LET CO Read Read write access to the parameter depending on Write the preset user level FS Local Administrator l Attention G E ek These descr
11. 0033 Actual device error ActualError feed H H T E AP T H The error is clearly defined by the displayed number a CO a al S Example External error has the ID no 11 see list in Application Manual Mapping ves section 7 Diagnosis ni o H al fee O O TE p 0033 Actual device error ActualError write index 03 Error location Location Additional error commentary id Not supported e apps P0033 Actual device error Actuator index 06 Additional Error comment text CommentlText unit ff Read cf Valerage Data pel string Write cS Mapping Error location CE A E O O P 0033 Actual device error ActualError i Ss O E index 04 Time stamp of error event Time Additional error commentary Text not supported Value range Data type G Fs O O Mg Yes Unit PO Read Write Error time which has elapsed since last power up index 07 Line of error occurrence Line ing ve ECT IS FEA C we II AE E P 0033 Actual device error S 08 Additional error comment text Source file of error occurrence a s wo H H EA ed wee TT Additional error commentary KAO Oc MSD 3200 Parameter Description 101 Chapter 8 MOOC MSD 3200 Parameter Description czy 9 Bus systems field bus 9 1 Description of the field bus systems All information and descriptions of the bus systems can be found in the relevant user manuals User Manual CANopen ID no CA65646 001 User Manual EtherCAT ID no CA65646 001 User Manual SER
12. C IO AO H C IE O H C oO AU H In response to a Shutdown command 1 QSOPC the stop variant selected in the quick stop option code is executed POFF Disable power stages drive coasts to a stop The drive brakes with a programmed 1 SDR deceleration ramp Then the power stage is disabled Response to Shutdown Option Code Control off MSD 3200 Parameter Description 36 Reaction to Disable operation Option Code The disable operation option code parameter determines which action is to be executed at the transition trom Operation enable to Switched on 4 and 5 P 2220 605CH DS402 disable operation MP_DisableOpOC option code a O H H H CHH H H CHH H H The drive brakes with a programmed 1 SDR deceleration ramp Then the power stage is disabled Response to Disable Operation Option Code Response to Halt Option Code Halt feed The Halt feed state brakes an ongoing movement for as long as the state is active During braking the drive can be accelerated back to the previous state When deacti vated the programmed acceleration ramp is again applied so Maing e wo IS y SSS C II FE E mo The drive brakes with the programmed 1 SDR deceleration ramp then the power stage is disabled Braking with max dynamics at current 3 CLIM limit The speed reference is set equal to O Then the power stage is disabled Braking with max dynamics at voltage 4 VLIM limit
13. P 0126 MSD 3200 Parameter Description 90 Brake output for lift application Torque as a function of time G Msoi Reference input active sd Brake closed Brake open 1 l i enable via dig input or bus P 0148 ENMO time Power stage active Control active P 0215 Rise time P 0213 Lift time P 0214 Close time P 0216 Fade time Key CNI Timer active Ea Wide bar Actual status of an input control bit or the brake P 0219 P 0217 P 0218 Mref last torque x 100 start torque Fig 6 5 1 Parameters to set the brake P 0213 Motor brake lift time MPRO_BRK_LiftTime BRK _ MPRO_BRK_LiftTime P0216 Motor aie eee fade time MPRO_ BRK FadeTime A L r HT HT ka ooo o o O o o o The lift time takes account of the mechanically dictated opening time of the brake Write T A waiting reference value is only activated when the timer has elapsed The fade time is the braking ramp with which the reference torque is reduced to 0 M P 0214 Motor brake close time MPRO_BRK_CloseTime P 0217 otor brake factor for application MPRO_BRK_LastTorqueFact of last torque Value range O 10000 Data type uint16 Mapping fue e ERAN 1 IS RA wie A Red oo o S S When the start condition is cancelled or in the event of an error the close time Write T starts It is the mechanically dictated time which a brake takes to close If the loads change on restarting a restart with t
14. S H Read a i A l Exponent of the acceleration unit F S P 0292 actor group Acceleration unit MPRO_FG_AccScaleFac scaling factor y eed IE DN E S we IS O SSS o o OYO Scaling factor of the acceleration unit Value range datatype oO r w HH ka ooo o DO O S we CdS Torque unit given in plain text E 3 1 2 Rotary motor P 0294 Factor Group Torque unit MERO a A y exponent es Mapping Example Scaling of the rotary motor Positioning in milli degrees Exponent of the torque unit One motor revolution corresponds to 360000 milli degrees or 1048576 increments Velocity in rom Factor aroun Torque unit scalin Acceleration in rpm s P0295 aT a MPRO_FG_TorqueScaleFac E factor FS 1 No P Nr Parameter name Meaning Default setting for Internal unit rotary motor soo po Maing P 0270 MPRO_FG_PosNom Increments per incr rev Inter revolution 1048576 nal resolution 20 bits P 0272 MPRO_FG_Den Denominator 360000 milli degrees Read H IESO Scaling factor of the torque unit P 0273 MPRO_FG_Reverse Reverse l False clockwise direction P 0274 MPRO_FG_Speed Velocity EE 1 rom Fac factor p p P 0275 MPRO_FG_AccFac Acceleration irom hom 1 60 0 01667 factor p E rom s U s2 KAO Oc MSD 3200 Parameter Description 31 Chapter 3 MOOC MSD 3200 Parameter Description 32 3 1 3 Linear motor 3 2 Basic Settings P 0144 DriveCom Auto start of system MPRO_DRVC
15. The speed reference is set equal to 0 Then the power stage is disabled Response to Halt Option Code Halt feed MOOC Response to Fault Reaction Option Code Fault P 2222 605EH DS 402 fault reaction Mea option code A K CTA O AO H Fead H H we HH H H The drive brakes with a programmed 1 SDR deceleration ramp Then the power stage is disabled Braking with max dynamics at current 3 CLIM limit The speed reference is set equal to 0 Then the power stage is disabled Braking with max dynamics at voltage 4 VLIM limit The speed reference is set equal to 0 Then the power stage is disabled Response to Fault Reaction Option Code Fault MSD 3200 Parameter Description 37 Chapter 3 MOOC MSD 3200 Parameter Description 38 Braking ramp for quick stop P Note These drive controlled homing runs with the corresponding parameters 2 are also used in the case of control via the SERCOS and PROFIBUS field buses P 2242 eines ede acces MP_402_ QuickStopDec and in conjunction with internal reference generation punt RE ed we T P 2261 6098H DS 402 homing method MPRO_402_HomingMethod OFF ain o a AENA A Act position homing offset multiturn 5 Homing absolute value encoder encoder a Homing mode type 22 with continuous Continuous homing negative edge reference of reference cam 3 Homing mode type 20 with continuous Continuous homing positive edge reference of reference
16. ag Ln l BR LUKA l r e se S P 0732 Select motor temperature sensor MON_MotorPTC Index 01 Sensor connection Contact There are two methods of connecting the motor temperature sensor to the device The temperature sensor cable included in the motor cable is connected directly to terminal X5 The other variant involves connecting the temperature sensor along with the 9 pin Sub D plug of the resolver at X6 Motor 12T protection parameters B Rated current FNom of ae ene MOT_CNom D 1000 Sara nean 10 CHH H AS S Percentage rated current to be permitted in MOOC P 0733 Motor 12T protection parameters MON_Motorl2t Index 01 rated current OHz of INom IO Motor 12T protection parameters MON_Motorl2t rated current F1 of INom 11 Value range 0 1000 Data type float32 AR ICI EE Index 03 interpolation point F1 Value range R A A A A Frequency interpolation point f in Hz MSD 3200 Parameter Description 25 Chapter 2 MOOC Index 04 nominal frequency FNom pS AAA Rated frequency f in Hz Index 05 Motor maximum current Imax 7 ARA eo o f we Permissible current in referred to Motor rozas ne MON_Motorl2 index 06 ime during which max current is Time allowed ee CHH H A Permissible time in which the maximum current may be injected MSD 3200 Parameter Description 26 3 NI otion profi les 3 1 1 Description of user specific
17. cam 2 1 3 4 Homing Homing serves to establish an absolute position reference for the entire axis and must usually be performed once after power up Homing becomes necessary when absolute positioning operations are carried out without absolute value encoders e g SSI multi turn encoders For all other positioning operations relative infinite no referencing is re quired For zero position adjustment of absolute encoders homing method 5 is available No homing mode act position homing No homing offset Reference position homing offset para 7 Actual position Zero meter HOOFF Neg end switch zero pulse Homing negative limit switch and zero pulse Pos end switch zero pulse Homing positive limit switch and zero pulse 1 0 i 1 t 2 3 Pos reference cams zero pulse at Homing to cam negative edge positive RefNock Low direction and zero pulse 4 l 5 l 6 There are 41 different methods which can be set according to the application Homing can be triggered by way of a bus system SERCOS CANopen EtherCAT DS 402 or by way of the terminals By selecting homing method 5 to 35 and defining the settings the reference signal positive limit switch negative limit switch reference cam the direction of the drive and Pos reference cams zero pulse at Homing to cam positive edge positive Neg reference cams zero pulse at Homing to cam negative edge negative RefNock Low direc
18. channel ANAO 1 With Analog channel ANAO and ANA1 the analog input signals can be conditioned by additional functions The input signals can be scaled or assigned an offset and threshold values can be defined The ramps can also be altered Analog Input ISAOO ISA01 Control and PG IP Switch IP Mode Analogfunction Analog Inputs Filter 4 e _ TLIM 4 P 0332 CON_SCON_TMaxScale ISA00 30 OVR 3 P 0167 MPRO_REF_OVR Sd 2e REFV 2 ISAO1 Terminal l P 0109 analog P 040 P ong oe Inputs P 0406 PG Mode 0e _ Off 0 do AA TAB3 26 analog channel Profilegenerator PG ISADO ISA01 TRamp P 0176 P 018 Scale Offset Threshold gt Control e aa H E P 0173 P 0174 P 0175 P 0183 P 0184 P 0185 Fig 3 7 1 Analog reference processing Index 00 scale factor for torque reference MPRO_ANAO_TScale CH TH H H CHH H H we RT Scaling of the torque reference value Index 01 scale factor for speed reference MPRO_ANAO_SScale punit R Ra oo ooo HH CI O O Scaling of the speed reference value Scaling of the speed reference value Index 02 scale factor for position reference MPRO_ANAO_PScale Unit ref min 10 V MI Write IAS Scaling of the reference value for positions 10 V corresponds to n speed units MOOC P Note The same settings also apply to p
19. eis g S ISA0x P 0405 Scale 52 SC z P 0183 bis P 0187 ISAO1 ay A dj ES P 0173 bis P 0177 SA00 S AD Wandler P 0109 e 10V P 0110 e OVR 3 P 0167 MPRO_REF_OVR al T LIM 4 P 0332 CON_SCON_TMaxScale Fig 6 3 1 Selector for the analog inputs MSD 3200 Parameter Description 86 Analog Input ISAOO ISAO1 and PG IP Switch Analog Inputs Filter ISAOO So fo ISAO1 a eae P 0405 P 0406 Control IP Mode Analogfunction TLIM 4 P 0332 CON_SCON_TMaxScale OVR 3 P 0167 MPRO_REF_OVR REFV 2 Off 0 START 1 TAB3 26 analog channel ISAOO ISAO1 TRamp P 0176 P 0186 Scale Offset Threshold x o s G P 0177 Control SRamp p 0187 Kn P 0173 P 0174 P 0175 P 0183 P 0184 P 0185 Profilegenerator PG Fig 6 3 3 Reference values via the analog inputs analog channel ISA0O and ANAO7 Function of analog input ISA00 1 w o C analog 4 TLIM 7 S analog 2 REFV analog 1 MOOC PARA write to P 0407 MPRO_INPUT_FS_ISA00 1 Function TORQUE SCALING 0 100 0 to 10V corresponds to 0 100 of the maximum preset torque The torque scaling is recorded directly after the analog filter and before the backlash threshold offset The analog input writes to parameter P 0332 SCON_ TMaxSca le Torque limitation The backlash is therefor
20. level PLC is routed directly to the Fine Interpo lator It is essential to adapt the sampling time between the PLC and the drive control ler Default settings are 125 us see MSD 3200 Application Manual Sampling time for interpolation C O Ra SCS we o OTOSO O O Adaptation of transfer rate between external PLC and drive controller MSD 3200 Parameter Description 34 P 0335 Direction lock O reference CON_SCON DirLock FT O Setting 1 S Direction lock for speed reference value w IE A H ka H H CHH H E Spline interpolation input of external 2 SplineExtFF pre control values NonIPSpline Cubic spline approximation Selection of different interpolation methods By the choice of an appropriate method the contouring and noise can be influenced see Application Manual section 1 2 3 3 3 Stop ramps 605AH DS 402 quickstop option p E P 2218 S E MP_QuickStopOC Each reference source has its own acceleration braking and stop ramps The special 2 OSR Brake with quick stop ramp then the power deceleration ramps listed below exist in accordance with the DS 402 standard stage is disabled The ramp functions are only effective in certain system states Braking with max dynamics at current limit 3 CLIM The speed reference value Is set equal to O then the power stage is disabled Response to quick stop option code Quick stop Braking with programmed deceleration The quick stop brakes an ongoing moveme
21. only be set with the controller switched off OSE PA 2 Note that the filters influence not only the amount but also the phase angle Consequently the use of filters of higher orders PT3 PT4 should be Un fe avoided in conjunction with low frequencies lt 200 Hz as the phase angle Read fe OO dd write O S S Filter 2 Locking frequency of the notch filter Limit frequency of the low pass filter P 0325 Filter frequencies of digital filter l CON_SCON_FilterF l Index 00 1st center cutoff y iia se CON_SCON_FilterFreq Mapping O TA Read O NO A Filter 1 Locking frequency of the notch filter Limit frequency of the low pass filter Write Filter frequencies of digital filter as CON_SCON_FilterFreg 10 Hz Mapping Filter 2 Bandwidth of the notch filter P 0325 Index 01 Value range Unit Read Write Filter 1 Bandwidth of the notch filter CI AI unio nme MOOC MSD 3200 Parameter Description 65 Chapter 5 MOOC MSD 3200 Parameter Description 56 P 0326 Digital filter design assistant CON_SCON_FilterAssi P 0327 as ee mas Index 00 Coefficients of digital filter CON_SCON_FilterPara Value range ata type uint 08 oT ping orange Data type CN AAA Mapping Red SS G O AOS AAA ea Oo OE PEET AN Nii E OINA ie Coefficients of time discrete transfer function User defined setting of filter k B 4 x k 4 x k 3 1 Filter Notch 2 Notch 1 Filter Notch 1 Filter Notch AAA o 2 Fil
22. rated torque MOT_TNom 1 we COO S SSS Rated torque of the motor MSD 3200 Parameter Description 17 Chapter 2 MOOC PS f o Mapping wo C O AAA EA TA S S Mass menta oe motor OOO Mass inertia of the motor ue O AA EE Read Write PO Number of pole pairs of the motor P 0462 Motor rated flux FS 0 25 1 MOT_FluxNom Data type float 32 Mapping No Read wie CIS SSS Magnetic flux of the motor P 0470 Motor stator resistance MOT_RStat Data type float32 MSD 3200 Parameter Description 18 Read te A Stator resistance of the motor Only the value of one phase is entered Attention On the motor data sheet double the value phase phase is often quoted P 0471 Motor stray stator inductance MOT_VNom AT III SON Stator inductance Only the value of one phase is entered Attention On the motor data sheet double the value phase phase is often quoted q Stator inductance variation in P 0472 of MOT_Lsig Index 00 q stator inductance O MOT_ MOT_LsigDift Lsig_qelo Scaling of q stator inductance at current 10 q Stator inductance variation in of MOT_Lsig q stator inductance 1 MOT_CNom P 0472 Index 01 MOT_LsigDitt Lsig_q l1 Scaling of q stator inductance at current Il The following values are calculated e Flux settings including for torque constant e V F characteristic e Control settings for Pl current controller The current controller is dimensi
23. scaling parameters P Note At the end of the section examples of parameter setting for a rotary 9 and a linear drive are presented by way of illustration 3 1 Scaling Standardization Units P 0270 Internal position resolution MPRO_FG_Type It is always necessary to adapt the scaling of the drive to the application In this a distinction is made between three different scaling sources The selection is made read L ype se ectan ee rite Internal position resolution Number of increments per motor revolution P 0271 Factor group Numerator MPRO_FG_Num FS SS IESO 1 SERCOS SERCOS profile wite Sid SC H Selection of scaling via SERCOS DS402 or USER Parameter details are to be found in the manuals for SERCOS and DS402 The parameters for scaling by way of the USER setting are described in the following us 1 To avoid rounding errors the transmission ratio is given as a fraction Numerator for the transmission ratio P Note Additional information on scaling is to be found in the SERCOS 5 User Manual MOOC MSD 3200 Parameter Description 27 Chapter 3 MOOC P 0272 Factor group Denominator MPRO_FG_Den r HH H CHH H me TT Denominator for the transmission ratio P 0273 Factor Group Position and speed MPRO_FG_ Reserve Reverse Unit 1 Function Clockwise Anti clockwise 3 4E 38 to 3 4E 38e Data type float32 june wn Velocity factor P0274 Factor group speed factor MPRO_FG_Sp
24. shaft comes to a standstill at reference zero P 0175 ANAU eneo MPRO_ANAO Threshold Index 00 AREAS ED MPRO_ANAO TThreshold reference P Note The same settings also apply to parameter P 0185 00 01 02 Unit i of analog channel ANA1 and so are not listed separately Write Definition of a torque threshold to ensure the motor shaft comes to a standstill at reference zero P 0176 ANAO torque mode acceleration G 00 ee and deceleration 1 MPRO_ANAO_TRamp Pann G a CH H H CHH H H Wie Definition of the acceleration ramp in torque controlled mode P 0176 ANAO torque mode acceleration Index 01 0 and deceleration 1 AE TaAl CU te ee une Red OO write H H P Note The same settings also apply to parameter P 0186 00 01 02 of analog channel ANA1 and so are not listed separately MOOC P 0177 ANAO speed mode acceleration Index 00 e and deceleration 1 MPRO_ANAQ_SRamp Value range HET so mig o C ONIS FEO H ees O AE H write O S S Definition of the acceleration ramp in speed controlled mode P 0177 ANAO speed mode acceleration Index 01 0 and decelleration 1 MAN eo lune vs Red H H write H H P Note The same settings also apply to parameter P 0187 00 01 02 of analog channel ANA1 and so are not listed separately MSD 3200 Parameter Description 47 Chapter 3 MOOC P 0405 Analog input 0 filter time CONTANA TFIO P T CC AC The reference value can be fil
25. the second jog input while in slow jog mode If the first signal is deactivated in quick jog mode the drive stops If it is set again the drive again moves in slow jog mode even when a quick jog request is actuated An example of a jog in positive direction is shown in the following table 3 5 1 P 0168 Motion profile jogging speeds MPRO_REF_JogSpeeds Index 00 Speed fast joging FastiogSpeed unit ka H H we AA P 0168 MPRO_REF_JogSpeeds Index 01 Speed slow jogging SlowJogSpeed unit O S y O Read H Wie Slow jog mode OI Slow jog mode Note Y The driving sets have predefined standard units So before configuring the driving set parameters the units and scaling must first be checked If the table 2 a J Stowiog is selected as the reference source parameter P 0283 MPRO_FG_Type selec tion of scaling should be set to USER see section 1 2 9 ICO E T a IO ETE 3 6 1 Driving sets for max 16 torque reference values P 0193 Index 0 15 Torque mode acceleration MPRO_TAB_TAcc 3 4E 38 to 3 4E 38 Data type float32 Tab 3 5 1 Examples of jog mode in positive direction ECO IO AN ka ooo o oo oo a oo o OOOO fixed torques or a table position can be preset by way of a table The travel profile is Acceleration ramp setting for max 16 torque values generated using the Profile Generator For each table value there is an acceleration and ji A a 15 Torque mode deceleration MPRO_TAB_TDec a braking ramp Each position value addit
26. 03 E MA bility to abort a driving set from the table Lae a 2 REL at once before reaching the target position and Velocity input for the position reference values O approaching a new position without having completed the old one P 0202 L pE E d Position mode reference position MPRO_TAB_PPos PD A Laal Index 0 15 to Speed an infinite driving job is transmit TET s l Erni terminated and the newly selected table va lue is approached from the current position Table positioning mode Max time for position or soeed nE A P E MPRO_TAB_Wait Time Index 0 15 control l ms 5 A p ooo HA gt 1 Contigurable time after which a follow up job can be transmitted wait time MOOC MSD 3200 Parameter Description 43 Chapter 3 MOOC Selection of the control location for the table P 0206 Max index in AUTO mode Operation Mode PARA BUS PARA Setting PARA TERM AUTO BUS MPRO_TAB_Mode a a a MPRO_TAB_Maxldx MPRO_TAB_Maxidx C p o 11H H H H CHH H H CHH H H Number of table values from the table to be worked through in sequence from top to bottom Example If the value is set to 6 six reference values from the table are worked through in sequence This operation is repeated until the table enable is stopped or the start contact Is opened MSD 3200 Parameter Description 44 Actual Index MPRO_TAB_Actldx Display of current table value to be worked through 3 7 Analog
27. 0302 CON_SwitchFreq Switching Frequency ed po ar T ed me T The level of the power stage clock ee is a key factor in terms of the smooth and quiet running of the drive General rule The higher the clock frequency rises the smoother the drive runs the noise level decreases This advantage is enforced by a higher power loss derating however Clock frequency of power stage MSD 3200 Parameter Description iis Chapter 1 MOOG MSD 3200 Parameter Description AE 2 Motor For optimum performance and ease of commissioning of the drive system we recom mend operating the device with standard motors from the catalogue A database of motor data sets encoder data sets and default control settings is available The drive controller can be used to control both synchronous and asynchronous motors Rotary and linear designs are supported es IES a OFF ASM Motor Type 0 OFF 1 PS MOOC a l w O S AE CHH H H EHH HT THH w T Selection of the motor system to be used rotary linear MSD 3200 Parameter Description 15 Chapter 2 MOOG MSD 3200 Parameter Description 16 PS synchronous motor 5 A 2 1 P 1530 Determination of default motor SCD_SetMotorControl control settings 2 1 1 Parameter list for setting of PS motor field model Unit pes H H Motor Kaa no motor 1 PSM READY n r or rotary motor data are valid gt 1630 SCD_SetMotor 1 Start calculatio
28. 324 les 03 Load torque compensation CON_SCON_K_mload Read Expanded control structure rr for torque difference feedback MSD 3200 Parameter Description 68 GONES CAG ESE P 0350 Selection acer calculation Index 00 ObserverMethod Select method Selection of observer method GONSSGAUGSSEL P 0350 Selection inte calculation Index 01 FeedbackMethod Select test or operational mode Mapping No 0 TUNS Feedback via single mass observer Selection whether feedback via PT1 filter or via single mass observer Observer Parameter meaning depends on CON_SCALC CON SCALC_ObsPara Value range 3 4E 38 3 4438 Data type FS o Internal parameter of the observer Index 00 time constant of observer IF CH HH ad EHH H E Time constant of the observer Note The grey backed parameters will only be available as trom firmware version V 2 0 MOOC Index 01 Damping coefficient aloha a H ER Red fwte EA S H IEA Damping coefficient OOO Damping coefficient Observer design parameters P 0353 Damping coefficient CON_SCA LC_ObsDesignPara Index 02 Load torque is applied 0 at loadpoint motor 1 at load 2 equally A G H E CI H H Load point P 0353 Ga SL E CON_SCALC_ObsDesignPara Damping coefficient less Time constant of speed filtering yA Value range 0 05 1000 Data type float32 e G E E Time constant of speed filtering MSD 3200 Parameter Description 69 Chapter 5 MOO
29. 83647 Data type a a a ENC_CH1_MTEnable Mapping Encoder Channel 1 Error and Status Codes from the interface ENCTCHITAbpsEncStat s to absolute Encoders Display parameters Error and status codes of the absolute interface MSD 3200 Parameter Description 57 Chapter 4 MOOC 4 3 Resolver X6 channel 2 C O FE H read we A Selector for encoder channel selection on channel 2 the resolver is connected to X6 P 0512 Encoder ac SES Encoder Channel2_Num FS 1 Mapping No Unit wit a Numerator of the encoder gearing channel 2 connection to X6 MSD 3200 Parameter Description 58 P 0513 OE SABIA Ls Encoder Channel2_Denom minator 1 Value range Ras ww IE FEA EE ead IE E FE E was T Denominator of the encoder gearing channel 2 connected to X6 For encoder channel 2 it is assumed that the resolver is always mounted on the motor shaft Only the setting 1 makes sense for reversal of direction P 0560 SU nand 2 HKS ci Encoder Channel 2 Lines Pole Pairs Resolver Value range 1 128 Data type uint16 FS Mapping No Write Setting of number of pole pairs or resolver 4 4 Encoder Option X8 channel 3 Encoder Channel 3 Select a FA ed wae T OEP 0 Evaluation of a high resolution SinCos 1 SinCos encoder Selector for encoder selection on channel 3 option X8 P 0514 EE pi SESI Pe Encoder Channel 2 Num wo H H ma TRT we T P0515 MISE SS SO Encoder Channel 3_Denum mina
30. 9 23 24 26 51 52 MOTO DOKE aee e a saeco sect ee sete tose cd eee 90 PP 15 Motor protection by temperature sensor Protection cccccoccccccco 23 Motor protection Characteristic 24 O ET no a 67 Opera ing AUS ea 114 Be geo GITTE 11 Order eles 11 Overview of Application Manual estarse indie ii 9 A e 13 p PS SOG S E EEE E E E 107 A 12 MSD 3200 Parameter Description o A 72 Position L ye AUT 42 POwWerup ee ne ieee E ee ee eee 83 Xe E 12 NLR eee eee ee ee es 65 FS CUCU eT 73 FMC odia 19 SE ao os seers En i nahi ernan eiea 16 Q a q 35 Vile dire om ei ile ge amp 610 lt TT 35 R Reference COMES tb 39 Resolver X6 Channel 21 58 FO PT NOU TT 31 S Sa Ten Eeee TO orcos 83 sr Sa pater et cect eee eee geste ee ees 9 BM ce one es A EEEE dea p00 ETA 27 Scaling parame te Sesera asia cents 27 SOON TA DE en eE E E 41 O AEE E E E EE EEE E EEE 36 SINCOS X7 Channel 53 Speed velocity lImits iia 97 Speed reference values muse steel 42 State machine DRIVEC OM 48 SA 83 oi po AAA senna actin aetectan tenses nossense oanesoeeuanees 35 A 9 118 T Table reference values 41 Target POSION eneses a eer S 109 se AE anA 25 Test signal generator cosnesinc nonacensessesnessstaisinatinbasinansndsacbnenestatienautekeaewnes 78 POMS ONC i eiren AAEE inicios 96 Torque reference Values 41 U UNA SI VO AG osassa A ANETE AER 13 User leye S cs secre sacnn sere mains E Ea R AEEA 107 User manua
31. 96 P 0331 Motor torque scaling of positiv CON _SCON_TMaxPos limits CH H H CH H H Write 1 Scaling of the torque limit in positive direction P 0332 Motor torque scaling online factor CON_SCON_TMaxScale Value range 0 100 Data type float32 100 CHH H EHH H HT Scaling factor of torque limit variable online P 0741 Monitoring torque force threshold Mon_TorqueThresh CI w o O FE H CHH O E we Cd Torque threshold value for digital outputs 7 1 2 Velocity speed limits P 0328 Speed control maximum speed ue IO FEO H AAA CON_SCON_SMax we Scaling of the speed limit P 0333 Motor speed SE of negative CON_SCON_SMaxNeg Yo Scaling of the speed limit in negative direction P 0334 Motor speed S of positive CON SCON SMaxPos CHH H H CHH H H CHH H H MOOC Chapter 7 P 0740 Monitoring speed threshold MON_SpeedThresh 0 3 46438 Data type joa fs HH ping te Fame ka ooo o o oo EA E C CI AAA H Monitoring speed P 0744 difference threshold E KS r H H H CHH H H CHH H H Speed wacking eror aera OOOO OSS Speed tracking error monitoring 7 1 4 Position limits Monitoring position P 0743 bie fee uate MON_UsrPosDiffMax Unit user we fd Position tracking error monitoring MSD 3200 Parameter Description oy MOOC MSD 3200 Parameter Description een 8 Alarm amp Warnings 8 1 Error Reactions The settings in parameter P 0030 00 are applicable to all 36 error mes
32. AEEA Eiaa eset 78 G IOUS A A 81 A E e A e A A E R ere nna em Oe ee 81 6 1 1 F nction selectors of the digital INPUTS sesos dada dilo iii 81 An e E E E E osc aandne 84 An e o EE A 86 Sn e o E Cn PT Ce A 89 a MOR bid ere eee ee 90 MSD 3200 Parameter Description 8 e A rn 93 A a o no cee nee ny en Renner er et ener epee 93 A o A e E E E etki terse tu hd gaa nee cacao 93 PAZ TONOS IO rr aa ta ae 96 Ako VOI er SC 1 sore ap nsec deca cei eases oa 97 LA OO MN MNS a 97 E A ree EE UU 99 Bl Error REACHONS eusus Aaa iii a dede 99 8 1 2 Error description Actual Error see eee 99 9 Bus systems field DU pesas rre 103 9 1 Description of the field bus SYSTEMS escasa 103 9 1 1 User manuals for DUS SUSTO cocinada idad 103 10 Device information Drive descriouoni 105 10 1 Content of the device information ici td 105 11 Passwords and user levels scarico 107 11 1 User A e o E O EEEE aA OTENE AEA ETEO RENEE 107 TEZ AS A tice E E E E EE EOE 107 12 Aca VA ronca 109 12 1 Actual values Motion PION aid 109 Pa UNO oo II An 114 ES AA N EATI PEC PO E E ome 115 Summary Since the drive controller software offers a wide range of functions including the facility to interface different field buses the documentation is spread across a number of indi vidual documents as shown in figure 1 Documentation system Document Contents Description Device mounting installation E Hardware safety specification Function descripti
33. C P 0353 Index 04 Observer design parameters Damping coefficient CON_SCALC_ObsDesignPara Time constant of load torque H adaption 6 05 1000 eee foat32 CE IN Time constant of load torque adaptation Time constant of oscillation TFosc P 0353 Index 05 adaption aa Observer design parameters Damping coefficient CON_SCALC_ObsDesignPara S S AO lt a we SOS Time constant of vibration damping adaptation CON_SCALC_ObsDesignPara i ie Index 06 ee AccGain Acceleration measurement gain 10000 10000 Data type float32 A CO Gain of acceleration measurement MSD 3200 Parameter Description 70 P 0354 Observer design assistant CON_SCALC_ObsDesignAssi S i Location design for the selected observer type Design based on dual conditions TIMES Design based on time constant Assistant for observer design as trom V 2 0 5 2 7 Field weakening For more information on field weakening refer to the Application Manual section 2 7 P 0341 Speed where field weaking starts CON_FM_ImagSLim Applicable only to ASMs For field weakening two combinable methods are available Field weakening by way of a Pl voltage regulator a Static characteristic of d current as a function of motor speed from table values b 1 n characteristic P 0341 zero Evaluation based on static characteristic P 0341 gt zero then as from speed ImagSlim the flux is controlled according to a 1 n characteristic
34. COS ID no CA65648 001 User Manual PROFIBUS ID no CA65645 001 MOOC Chapter 9 MSD 3200 Parameter Description MOOC MSD 3200 Parameter Description 104 10 Device information Drive description 10 1 Content of the device information P When contacting our Service department please always quote the device type the software version and the serial number Type 6397 006 RM Version W 10 00 Serial number 071300475 Article number Operational time 36 min Power stage 11 min oprational time Fig 10 1 1 Dialog box for device information MOOC Chapter 10 Mm A U N Type SW Version Serial number Articel number Operational time Power stage Device type Software Version Serial number of device Not supported Total operating hours since last switch on of the 24V control voltage Total power stage operating hours MSD 3200 Parameter Description 105 MOOC MSD 3200 Parameter Description EOF 11 Passwords and user levels 11 1 User levels There are five user levels selectable directly on the Moog Drive Administrator dialog box below menu bar in Moog Drive Administrator No password required Read only No password required Restricted parameter access sufficient only to rotate a drive Observer Level O Fitter Level 1 No password required At this parameter level the parameters are available for 99 of all applica
35. MOOC MSD 3200 Parameter Description w 2 a 2 S a Q Q Q 21m WEEE T ad DIHITT Fitri uiis 32800808808 RR HS LH LS I S i R T S Base software MOOC MSD 3200 Parameter Description ID no CA65644 001 Date 05 2008 Applicable as from firmware version V1 10 MSD 3200 Parameter Description MSD 3200 High performance drives The modularity of the MSD 3200 guarantees you optimum integration into the machine process Whether in high speed field bus communication with the central multi axis machine controller or with distributed programmable Motion Control intelligence in the drive controller the MSD 3200 is a master of both We reserve the right to make technical changes The content of this Parameter Description was compiled with the greatest care and at tention and based on 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 subject to change at any time Please have a look at drives support moog com Table of contents e oo o E 9 E o o eee 10 Be e A A E E oestrone waserane somemetentat 12 SEL ea 15 2i Fe SINC ONO oee T 16 2 1 1 Parameter list for setting of PS motor field model 16 Za PARMA MINOW T 19 2 3 AS MORO H yie sire MOTOT srt ladilla 22 2 4 Motor protection by temperature sensor Protection
36. M_ACTIV o 18 N_LIM_ACTIV Limitation of speed reference is active 56 BC Fail Braking chopper error Function selector for digital outputs OSDOO RELOUT 1 see section 3 1 of the Application Manual Activate motor contactor motor wiring via a 21 ENMO motor contactor Function of digital input P 0127 RELOUT2 is fixes on Safety MPRO_OUTPUT_FS_RELOUT2 26 WIIT A N Warning Motor temperature Ld WOTI Warning Heat sink temperature of device at roe 7 7 7 The digital output RELOUTZ2 is fixed on the STO SH_S function and cannot be 29 WOTD Warning Interior temperature of device 30 WLIS Warning Apparent current limit exceeded Warning 12t motor protection threshold 32 WIT reached 33 WLTQ Warning Torque limit exceeded Table positioning in AUTO and activated 34 TBACT a state changed For additional information see Operation Manual sections 1 and 6 MOOC MSD 3200 Parameter Description 85 Chapter 6 MOOC w o i S OS e IS AE H we ooa O S Function selector to invert the digital outputs Bit 0 1 27 Outpt OSB007 01702 Bit 6 MBRK motor brake Bit 7 Z RELOUTI Bit Se SETT T 6 3 Analog inputs Analog input ISA00 ISA01 0 4V 24V Switching threshold If dig function active P 0407 0 P 0407 1 o SEEN Analog Channel ISA0 ISA1 2 SRamp TRamp E e i Threshold os P 0406 e Dig Funk 1 26
37. OG IN NEGATIVE DIRECTION In manual positioning mode an axis can be moved at slow or quick jog speed START HOMING According to the homing HOMST method set in P 2261 REFERENCE CAM to determine the zero for 10 HOMSW bie ad positioning EXTERNAL ERROR Error messages from 11 E Ext external devices produce an error message with response as defined in P 0030 12 WARN EXTERNAL COLLECTIVE WARNING MSD 3200 Parameter Description 87 MOOC MSD 3200 Parameter Description 38 Function of analog input P 0405 Analog input 0 1 EMO MPRO_INPUT_FS_ISA00 1 Sre R Oe CON ANA Filto 1 RESET ERROR Error messages are reset with 0 100 Data type float32 no longer be occurring when the reset is HT HH performed AE O i A l TOUCHPROBE The Touchprobe function Write fo SSO O PROBE should only be used for the two fast inputs Filter time for analog inputs ISAOO and ISA01 ISDO5 and ISDO6 INPUT USABLE IN SEQUENCE PROGRAM PLC inputs can always be read regardless of the setting PLC_IR PLC INTERRUPT Interruption of the program MOTOR POTENTIOMETER Increase reference MP_UP value MOTOR POTENTIOMETER Reduce reference MP_DOWN value EEN TABLE ENABLE Import the current driving set and execute it DRIVING SET POSITIONING TEACH_IN for TBTEA a oh the position driving set table O Bo TABO 2 Binary selection of driving set O TAB1 2 Binary selection of driving set 2 TAB2 2 Binary selection of driving set 4 TAB3 2 Bina
38. OM_Auto_START aiai Value range Scaling of the linear motor o o DH o lion AA IO E E IO O E e Velocity in mm s e Acceleration in mm s E E EE dao ol LEVEL 1 Autostart START by change of state level triggered The start signal is evaluated depending on the signal level P Nr Parameter name Meaning Default setting for corresponding TE tO Edge triggered EDGE 0 P 0270 MPRO_FG_PosNom Increments per 1048576 incr rev The start is executed after a Low High transition of the signal If the start signal level revolution is High directly after power up the control is not started A Low High transition is first P 0272 MPRO_FG_Den 32000 Level triggered LEVEL 1 The start is executed when the start signal level has HIGH potential If the start direction signal level is High on power up the control is started immediately Fac The function is also used for autostarting after power up P 0275 MPRO_FG_AccFac Acceleration 1 32 0 03125 rev s corresponds factor to 1Imm s Attention The drive starts up automatically with the Autostart function after power up or resetting of an error message dependent on the error response P 0159 7 The control location determines the interface via which the drive is to be controlled fs FS Motion control selection OFF Profibus O 1 1 Setting O PARA DS 402 PROFIBUS Setting OFF ANAO ANAT TAB MOOC MENOMS asi Data type
39. P 0451 to P 0472 are set out MOT_LmagTab float32 in section 2 1 PS motor Other parameters are Main inductans vs Isd 0 1 Index LmagldMax Data type Mapping Scaling table for main inductance Lmag table max magnetization current FS MOT_LmagldMax Es mag v CTO Y DO AO ead CI H we Cd y P 0475 otor main inductance scaling PI e factor pone RO Data type float 32 MSD 3200 Parameter Description 22 M mn P 0475 otor main Hees scaling Y CHH H CHH H H Scaling factor for main inductance P 0476 Motor rotor resistance MOT_Rrot Value range O 3 4E 38 float32 Mapping MOT_RrotScale xo Pone ka oo o oo H we TT 0 2 4 Motor protection by temperature sensor Protection Limits The limits are specified in the servocontroller as percentages of the rated quantities cur Motors can be thermally monitored by the controller and so protected against damage rent torque speed so that following calculation logical default settings are available Preconditions for this are The defaults relate to 100 of the rated quantities That is why the parameters must be a adjusted to the application and the motor e Motor has a built in temperature sensor The temperature is monitored by tem perature sensors or temperature sensitive switches The setting is made by way of Setting of l xt characteristic parameter P 0732 MON_Motor_PTC oo The lxt motor protection is set in the Motor Prote
40. arameter P 0183 00 01 02 gt of analog channel ANA1 and so are not listed separately P 0174 ANAC okei ANAO Offsets Index 00 ue gece i torque Tele MPRO_ANAO_TOffset Value range 3 4E 38 to 3 4E 38 Data type float 32 Setting of a torque offset to compensate for any component spread or to synchronize with a higher level PLC P 0174 ANAO offsets ANAO Offsets Index 01 ANAO offsets for speed reference MPRO_ANAO_SOffset DN CI we oS Unit rev min MS tre Setting of a speed offset to compensate for any component spread or to synchronize with a higher level PLC MSD 3200 Parameter Description A5 Chapter 3 MOOC MSD 3200 Parameter Description 46 MPRO_ANAO_POffset MPRO_ANAO_SThreshold P 0174 Seon ANAO Offsets P 0175 OS MPRO_ANAO_Threshold ANAO Offsets for position refe ANAO threshold for speed refe Index 02 E Index 01 sores 3 4E 38 to 3 4E 38 Data type float 32 Value range O 100000 Data type float 32 Ee H H ie Setting of a position offset to compensate for any component spread or to synchronize Definition of a speed threshold to ensure the motor shaft comes to a standstill we oS with a higher level PLC at reference zero ANAO thresholds A MPRO_ANAO Threshold ANAO threshold for position MPRO_ANAO PThreshold reference P Note The same settings also apply to parameter P 0184 00 01 02 Value range Data type JB e po Mapping Definition of a position threshold to ensure the motor
41. ble The pictograms always have the same meanings even where they are placed without text such as next to a connection diagram Attention Misoperation may result in damage to the drive or malfunctions Danger from electrical tension Improper behaviour may endanger human life Danger from rotating parts Drive may start up automatically Note Useful information MSD 3200 Parameter Description 1 Power Stage The device supports the infeed of various mains voltages and switching frequencies Consequently in initial commissioning the mains voltage setting must be checked and adjusted as necessary By way of parameter P 0302 CON_SwitchFreg the clock frequen cy of the power stage can be additionally tailored to your application P 0307 CON_VoltageSupply Voltage Supply Mode Data les Value range 1 x 230 V 0 3x 230V 1 Selection of mains input voltage 3 x 400 V 2 3 x 460 V 3 3 x 480 V 4 Adjustment of the device voltage to the local voltage system after setting the parameter the setting must be stored in the device It only takes effect following another Power Off On cycle of the 24 V control voltage 0 4 olds tor overvoltage undervoltage and switch on of the braking chopper are altered by the choice of mains power feed An incorrectly set mains voltage may result in destruction of the device T Attention The rated currents and overload factors and the voltage thresh MOOC S e P
42. ction subject area Possible error messages with parameter P 0733 MON_Motorl2t E06 01 Calculated motor temperature above threshold value EO6 02 PTC to DIN2 has tripped MONOS EO6 03 PTC to DIN3 has tripped E06 04 PTC to DIN1 has tripped A wo haraa Motor protection by I xt monitoring lxt monitoring protects the motor against overheating over its entire speed range This is especially important for internally cooled motors When IEC asynchronous Standard motors are operated for a prolonged period of time at low speed the cooling provided by the fan and the housing is insufficient Consequently for in ternally cooled ASMs a reduction of the maximum permissible continuous current q IS gt dependent on the rotation frequency is required When set correctly this function Sub ld03 Sub ld 04 o al Example Sub Id 05 150 x In replaces a motor circuit breaker The characteristic can be adapted to the operat Sub Id 04 Sub Id 06 f r 120s ing conditions by way of the interpolation points Factory setting Adjustment of the motor protection In the event of a shut off by the l xt monitor the following error message appears characteristic by the interpolation points E09 01 lxt shut off to protect the motor below the rated frequency permissible current time range exceeded Fig 2 4 1 Motor protection characteristic MOOC MSD 3200 Parameter Description 23 Chapter 2 MOOC Explanatory notes on setting of the
43. d at preserve OS Reserve TABLE ENABLE Import the current driving set 21 TBEN and execute it P 0101 Function of digital input P0120 Imputinversionmask MPRO_INPUT_INV to ISDOO to ISDO6 MPRO_INPUT_FS_ISDOO 06 PENS P 0107 Bit 1 6 15DOO to ISDO5 pan DRIVING SET POSITIONING TEACH_IN for Bit7 ISDSH the position driving set table Bit 17 ISDO6 23 TABO DRIVING SETO Binary selection of driving set A Function selector to invert the digital inputs 24 TAB1 DRIVING SET 1 25 TAB2 DRIVING SET 2 26 TAB3 DRIVING SET 3 ae ISDSH STO Function selector for digital inputs ISDOO ISD06 1 see section 3 1 of the Application Manual STO ISDSH Switch on inhibit ENPO STO ENPO Enable Power Ready to switch on P 0108 oe MPRO_INPUT_FS_ISDSH ISDSH ISDOx START Switched on L Unit Fig 6 1 1 Power up sequence Write 1 Value Setting Function 0 ISDSH Activation of Safe Standstill STO Hardware enable Safely disabled torque STO Sate Torque Off as per EN 954 1 category 3 see section 4 2 of the Application Manual P 0120 Input inversion mask MPRO_INPUT_INV EE ee eee IE E MOOC MSD 3200 Parameter Description 23 Chapter 6 MOOC 6 2 Digital outputs P 0124 eo _ ACTV s igi P 0126 7 Digitalvalue e OSDOO Digital Outputs OSDxx RELOUT1 P 0122 P0123 2 ox _ Brake Terminal ZA OSDO1 l OSDO2 54 e CM 1 b
44. e not effective for this function OVERRIDE 0 100 0 10 V corresponds to 0 100 Scaling of the configured velocity during positioning The override is tapped directly after the analog filter and before the backlash At this point the program branches to parameter P 0167 Profile override speed factor The backlash threshold and offset functions are not in effect REFERENCE INPUT 0 10 V Pay attention to scaling and adapt reference structure via reference selector Analog values appear as actual values in parameter P0407 This value can then be mapped in the process channel This setting is always active and does not need to be additionally activated Chapter 6 P 0109 E Function of analog input ISA00 1 MPRO_INPUT_FS_ISAOO 1 SART START control current is applied to the motor ir direction O on the reference value eee Reserved STOP QUICK STOP as per quick stop response Low active FEED HOLD The ongoing axis movement is interrupted as per the HALT response and resumed following resetting LIMIT SWITCH EVALUATION RIGHT Limit switch evaluation without override pro tection the response to interchanged limit switches is programmable LIMIT SWITCH EVALUATION LEFT Limit switch evaluation without override pro tection the response to interchanged limit switches is programmable JOG IN POSITIVE DIRECTION In manual positioning mode an axis can be moved at slow or quick jog speed J
45. e can be closed in a detined manner during operation by setting this parameter 7 Limits 7 1 Warnings and limits 7 1 1 Warning levels Current A ON Switching hysteresis OFF Warning ON IQS Fig 7 1 1 1 Example of a switching hysteresis for a defined current threshold MOOC Chapter 7 Warning level MON_WarningLevel DC link undervoltage ON OFF Undervoltage_ON OFF Value range Warning Undervoltage in DC link Warning level _ A MON_WarningLevel DC link overvoltage ON OFF overvoltage_ON OFF FS Warning voltage overload in DC link MSD 3200 Parameter Description 93 MOOG MSD 3200 Parameter Description 94 Warning level MON_WarningLevel A Warning level MON_WarningLevel SONO EE I ON OFF 3 lt motor protection ON OFF I t_motor protection ON OFF Warning t integrator activated to protect motor Value range 1000 Data type float32 C w a O Warning level MON_WarningLevel a RRE A IEEE Torque ON OFF motor torque_ON OFF pes H H Warning Motor current threshold reached Ss Mapping FNC E TOO O Read A lt internal device protection do ea lt ON OFF TA Warning Torque threshold reached Value range 0 110 Data type float32 Warning level MON_WarningLevel ina Speed ON OFF motor actual soeed_ON OFF S Mapping Unit Warning level MON_WarningLevel Read a ne t motor protection ON OFF I t_motor protection ON OFF Write Warning Speed threshold reac
46. eedFac FS MSD 3200 Parameter Description 28 P 0275 Factor group acceleration factor MPRO_FG_AccFac C H P DH H A CHH H Acceleration factor 1 60 0 016667 translation of rom into 1 s P 0284 Unit for position values MPRO_FG_PosExp Value range tape tno Write level Position unit displayed as plain text P 0285 Factor Group ee unit expo MPRO_FG_PosExp AA s Co o H 12 U 3 2 E E 6 E E 8 J 6 5 4 1 2 4 5 7 8 g 9 giga 1 t 12 terra E E 0 j p 15 peta MOOC Factor Group R unit expo MPRO_FG_PosExp P 0285 Factor Group S unit expo MPRO_FG_PosExp ICON IAS H F E iti P 0286 pE ei pees o MPRO_FG_PosScaleFac w H CHH H CHH H Scaling factor of the position unit P 0287 Unit for speed values MPRO_FG_SpeedUnit Vale range tape a we AO 1 Velocity unit given in plain text MSD 3200 Parameter Description 29 Chapter 3 MOOC P 0288 Factor Group Pea unit expo MPRO_FG_SpeedExp CTO IE FE kea ooo o AO E me A Exponent of the velocity unit P 0289 RE A E Hoon MPRO_FG_SpeedScaleFac Unit Write Scaling factor of the velocity P 0290 Unit for acceleration and decele MPRO FG AccUnit ration values r w H CHH H we Sd Acceleration unit given in plain text MSD 3200 Parameter Description 30 F i i P 0291 actor Group Acceleration unit MPRO_FG_AccExp exponent naaa iN w
47. ental Motor Control maes Channel 1 SW imple mentation SIN COS s Encoder interface Connectors SINCOS TTL Channel 3 Option ENC_DATA_ Fig 4 1 1 Encoder structure with three encoder systems e Axes with relative position encoders must perform a homing run after power up to enable them to operate in position control mode e Relative encoders are unsuitable as encoders for synchronous motors because every time the drive is restarted a procedure to set the commutation offset has to be run through This means the immediate readiness of synchronous motors is not guaranteed MSD 3200 Parameter Description 51 Chapter 4 MOOC P 0520 Encoder Channel Select for Motor ENC_MCon Commutation oe La H ma IN IE FEA S we CIS O O EE a ooo TH Selection for high resolution SinCos encoder connection to X7 Selection of a resolver connection to X6 Selection for high resolution external SinCos encoder connection to X8 Selection of the encoder channel to use for motor commutation With the Off setting no encoder evaluation takes place With a setting other than OFF the wire break detec tion is active P 0521 Encoder Channel Select for Speed E Eon Control Setting ss No encoder selected Selection for high resolution SinCos encoder connection to X7 MSD 3200 Parameter Description 57 P0521 Encoder Channel Select tor Speed ENC Sean Control pe Seton of a resolver connection E X6
48. etent torques a teach mode is run to enter the torque forming q current for a pole pitch in the 250 value table To compensate for the offset the q current is inverted and forwarded as a pre control value to the control see section 2 10 in the Application Manual CON_TCoggAddTab Anti Cogging compensation FS sr wo IEA HH Reed AAA F 0 IN F MSD 3200 Parameter Description 63 Chapter 5 MOOC Anti Cogging recorded currents CON_TCoggComp at teaching Teach 2000 to 2000 Data type maes DHT H 7 1 The characteristic of the q current Is averaged with a filter and recorded in this table wie aS S The table should be completely filled The motor should have moved through several pole pitch units during the teach mode P 0385 Anti a ee control GON OAE Setting Function 2 Teach Tab The values for table 2 are taught not implemented 3 CaleCorrTab The table values are prepared for compensation Selector for anti cogging MSD 3200 Parameter Description 64 5 2 4 Flux control rs mag Pone S INSI AAA Speed controller gain Speed control gain scaling factor Scaling factor for the speed controller gain 5 2 5 Digital filter Notch filter in pre control branch of control structure i ies of digital fil U U P 0325 Filter frequencies of digital filter CON_SCON FilterFreq EE aa i Index 02 2nd center cutoff e A AE ce A Value range 178000 OO fo 1 8000 D float32 ded The parameters should
49. for the analog track signals can be inserted This calculates and corrects the mean systematic errors in the offset the gain and the phase Where multiple encoders are in use it is advisable to set the method for the encoder used to determine the velocity signal Encoder Channel 1 2 Signal P 0561 correction Setting OFF 3 OFF RESET ADAPT ENC CHI Corr Function Track signal correction off Track signal correction with fixed stored va lues Track signal correction adaptive values are calculated and updated online Reset to factory setting Selection of correction method from V 2 0 MOOC P Note By way of parameters ENC_CHx_Corr the method is controlled for each S encoder channel For channel 3 the encoder correction will be available as Encoder Channel WE ENC_CH1_CorrVal P 0562 Signal correction Values a A Index 00 Offset track A cos Es maig punt Read a write O O S Calculated offset of track A P 0550 Encoder Channel 1 2 Signal cor ENC_CH1_Corrval P 0562 rection Values Offset B Index 01 Offset track B sin an w H Ee H TEO H P 0550 P 0562 Index 02 Value range FS Encoder Channel 1 2 Signal cor rection Values Gain track A cos ENC_CH1_CorrVal 3 4E 38 to 3 4E 38 1 Read 1 Write Calculated gain factor of track A MSD 3200 Parameter Description 33 Chapter 4 MOOC P 0550 P 0562 Index 03 3 4E 38 to 3 4E 38 une S Encoder Chan
50. he LastTorque torque on shutdown is recommended In this the actual parameter is assigned a factor 1 100 0 off P 0215 Motor brake torque rise time MPRO_BRK_RiseTime Noe On the very first power up a StartTorque P 0218 must be set U Motor brake constant initial C HT H L P 0218 MPRO_BRK_StatTor write The rise time is the rise of the ramp with which the reference torque is built up MOOC MSD 3200 Parameter Description Sl Chapter 6 MOOC P 0218 Motor aa initial MPRO_ BRK StartToro If the moving load always remains constant Mref is set by way of parameter P 0218 StartTorque Me LastTorque LastTorque factor StartTorque If LastTorque factor is set O as per the formula only the Start Torque setting is used If StartTorque is set O the LastTorque is used On the very first operation there is no LastTorque though In this case Start Torque is set O the LastTorque factor is set unequal to O and then the control is started The last torque applied is adopted P 0219 Motor brake torque samp ed at MPRO_BRK_LastTorq last closing time 10000 to 10000 Data type float32 0 Mapping E e nn CHH H H CHH H H This parameter is only a display parameter In it the last torque applied is entered on shutdown and the scale factor P 0217 is applied to it as a percentage where necessary MSD 3200 Parameter Description 92 w H H H ka HH H H CHH H H For testing only The brak
51. hed MON_WarningLevel cooler power electronics tempera ture_ON OFF ee Warning Temperature threshold reached heat sink temperature Warning level TC ON OFF S MON_WarningLevel imternal control electronics tem perature_ON OFF Warning level Tint ON OFF COS CIN ang fue ka H we i Warning level MON_WarningLevel motor temperature ON OFF Motor Temp_CN_ON OFF so ICAO m o C T H H CH H H CHH H H MOOC Chapter 7 Warning level MON_WarningLevel motor temperature ON OFF Motor Temp_CN_ON OFF Warning Temperature threshold reached motor temperature P 0745 speed Window for motor stand MON _RefWindow still or target reached C O FE H ka o oo A H C II CC Speed window for axis standstill n O rom P 0746 gt S V el MON_RefWindow target reached status CI rr 100 Mapping Read oo o S S o o C ICE FEA H Position reached window P 0747 SOE he MAS a MON_PF_OnLimit power fail reaction CO a ee Read MSD 3200 Parameter Description 25 MOOC P 0747 e MUS MON_PF_OnLimit power fail reaction A O o Voltage limit for power failure warning response 7 1 2 Torque force limit P 0329 Motor torque scaling of limits CON_SCON_TMax Scaling of the torque limit M ling of negati P 0330 OS pees Ao CON_SCON_TMaxNeg eat T P 0331 Motor Sa rete of positiv i Value range 0 100 CON_SCON_TMaxPos Data type float32 MSD 3200 Parameter Description
52. i ankie 22 POC OMNI A 74 PCO fs S 76 B o e 32 Ele ss a Ae 38 US UE E E E 103 C CONOR AAPP a 36 CalculadonOt motor data Sets retos ies 16 A PS 13 COMA on 75 Commutation Methods eisrean EEEE NE 74 OTO e E E eee 61 CONTO Mrs 62 MOOC Index D BY YS A 11 Device INTOFMATION ccccccecccceececcecceccecceeceecececaecescueceececeeereceass 105 DEVICE VOI AGG ieseni inini AEN AEREN e AEEA inca cataonis 13 Digital filter Notch FTilter ooococccccnnncccononcccnnnononcconononononennnnncnnnononenenos 65 e WAI TT 81 GO nonerisimodonicca E 84 Disable ODOR CONE ci ci sade tera iapaenonnaechcaussaeeendbeans tener ETA RRR 36 DOCUmentatiOn cineacsoscameinedewsnosduesadababandaceciniuneteensmeneusabeintenddcenaniacatads 9 Mio IOI se TTT 105 E Encoder correction GPOC ninia 55 Encoder Interfaces S Encoder Option X8 channel 3 xce cssecssdnbstccsssarninautsaeaencnesaunientssananienst 59 o ee E EEEE E EEEE E 51 Error reactions scan di oia inicias 99 E FauItReacion OPON COUE arresonos na AAEE EESAN EE EIS COMTI A 64 Silas OMID eS eT 73 Function selectors of the digital Inputs 81 H A 37 o OOE eae a E S EE T E ET leir aii TTT 38 Te TTT 81 Te rn TTT 115 MSD 3200 Parameter Description Wy MOOC J o A 40 K a e LaS O O 10 A A A 10 L Limits 23 93 NES panes 39 Mai MOTO eet creas rE E Ea 19 32 M Mandal VO MOUE sene E E 40 MONTI aos 40 Motion Profile actual Values 109 MOLOO see 15 16 1
53. ionally has a velocity and the positioning mode ndex J absolute relative linked to it Data type float32 The binary significance 2 2 2 23 results from the TABx assignment The TABO Es w Mapping S setting has the lowest significance 29 and the TAB3 the highest 23 A Logical 1 level pumice at the input activates the significance For each control mode 16 table driving sets are Read ff reke we AI O S Braking ramp setting for max 16 torque values The driving sets in a table can be selected by way of terminals or field bus Fixed speeds MOOC MSD 3200 Parameter Description 41 Chapter 3 MOOC P 0195 3 4E 38 to 3 4E 38 Data type float32 fue mC HH H CHH ooo 3 6 2 Driving sets for max 16 speed reference values P 0196 Index 0 15 Speed mode acceleration MPRO_TAB_SAcc Un nE O Acceleration ramp setting for max 16 speed values P 0197 lune ems PCPS CHH H TSS o y o wie gt H Braking ramp setting for max 16 speed values MSD 3200 Parameter Description 42 P 0198 Speed mode reference value MPRO_TAB_SRef Index 0 15 rev min Entry of max 16 speed reference values 3 6 3 Driving sets for max 16 position reference values edie Position mode acceleration MPRO_TAB_PAcc Index 0 15 Fame ead ooo o oo A H we II AO IE PAEA Position mode deceleration MPRO_TAB_PDec Index 0 15 C H H H Braking ramp setting for max 16 position reference values P 0201 E P 02
54. iptions in the parameter list are not intended to provide an exact Sani a A AS Palate Canoe functional description of the procedures for setting drive controller parameters used as process information Detailed functional descriptions are to be found in the MSD 3200 Application Value 0 1 Sequence from Moog Drive Administrator Manual Setting Settings selectable in the Moog Drive Administrator Abbreviations Order code gt Wildcard The order designation provides information on the configuration variant of the servocon e g ISAOX stand for ISAOO or ISA01 troller supplied to you For details on the order code refer to the Order Catalogue ad Field parameters are assigned a parameter number naex g and index G39 QO00OtO0dd0 d0d Rated current Data types Natural integer unsigned 8 bits usign16 Natural integer unsigned 16 bits usign32 Natural integer unsigned 32 bits int8 Integer signed 8 bits uint16 Integer unsigned 16 bits Mains Voltage Option 1 Field bus Option 2 Sensors Option 3 Safety float32 Floating point number in IEEE format 32 bits string ASCII characters max 100 bytes in bus operation incl Zero terminator Special equipment integer signed 32 bts Meaning 3 x 230 V to 480 V A 1x230V MOOC MSD 3200 Parameter Description ial MOOC Pictograms To provide clear guidance this Application Manual uses pictograms Their meanings are set out in the following ta
55. is 16 RELOUT 1 BC Fail 56 Fig 6 1 1 Function selector digital outputs P Qa P ka sooo Value Function of digital output MPRO_OUTPUT_FS_OSDOO RE OSDOO to RELOUT1 OFF BC LAIL Data type Mapping Setting Function FF Input not active ERROR Collective error message MSD 3200 Parameter Description 84 Function of digital output MPRO_OUTPUT_FS_OSDOO RE OSDOO to RELOUT1 LOUT1 MOTOR BRAKE Output is activated accord BRAKE ing to holding brake function see Applica tion Manual section 4 6 open loop control activated Output Is activated if the device completed initialization after power up Output is activated if by setting the signal ENPO the device is ready to start and there are no error messages Device Ready to ROT_L Motor rotating anti clockwise Motor in standstill window depending on ROT_O actual value STOP The drive is in the Quick stop state Display system is in the HALT state activa HALT ted via DS 402 input or PROFIBUS Interme diate STOP SERCOS as from V 2 0 The LIMIT output function detects when a LIMIT reference value reaches its limit In this case the output is set Function of digital output MPRO_OUTPUT_FS_OSDOO RE E az Function of digital output MPRO_OUTPUT_FS_OSDOO RE OSDOO to RELOUT1 LOUT1 gt on OSDOO to RELOUT1 LOUT1 Position reference limited e g with parame 39 54 CM1 CM16 Cam gear as from V 2 0 17 P_LI
56. itude es mag e w oo DE FEOS H S E AAA P 0701 MON_ActValues Current motor current peak value Monitoring actual values of mo tor and inverter actual magnetisa tion d current amplitude 3 Value range 3 4E 38 to 3 4E 38 Data type float32 Current amplitude of magnetization current d current MON_ActValues IPhasor P 0701 Monitoring actual values of mo MON_ActValues tor and inverter Index 04 Km actual torque constant ES mg e ka oo o oo O me curenttorqueconstant S Current torque constant rs 0o d 77 vee MOS Device status status word of device P 0703 Power stage temperature of coo Mo RR ling block fue we H Ra we ACI Heat sink temperature MOOC Chapter 12 P 0704 SEO Sells tE Pera tune of MON Device Tint Interior Value range 100 to 200 Data type float32 AO OS O O 3 4E 38 to 3 4E 38 float32 Es ping a TI FEA E Ra ooo o e ws a Motor temperature only if sensor connected so po o o u o w ooo o T H wae i Position tracking error Motor temperature MSD 3200 Parameter Description 113 MOOC 12 1 1 Operating hours P 0705 Operational timer MON_OpTime Index 00 seconds sec ue pd H ION H R Minutes timer so po o o me w ooo a T H ka ooo o ooo O H we os O SSS MSD 3200 Parameter Description 114 P 0706 Operational enabled time MON_OpEnTime Index 00 seconds sec Index 01 minutes min Es ping Je II ROA Index 02 hour
57. ls for DUS SYSTEMS session iii 103 V VEG Mode OPEN ee 62 Voltage ANC GIONS TT 12 W Warnings a INS 2se cencxscaeocanenscecteanasettamstaesset onnedeidatoonesseitendessaqonse 93 MOOC MSD 3200 Parameter Description Mies Index MOOC MSD 3200 Parameter Description TAR MOOC MOOG GmbH Hanns Klemm Stra e 28 D 71034 B blingen Phone 49 7031 622 0 Fax 49 7031 622 100 ID no CA65644 001 e 05 2008 We reserve the right to make technical changes The content of this Parameter Description was compiled with the greatest care and attention and based on the latest information available to us We should nevertheless point out that this document cannot always be up dated in line with ongoing technical developments in our products Information and specifications subject to change at any time Please have a look at drives support moog com
58. m Write Additional speed reference value with ramp 5 2 11 Autotuning P 1515 Speed and position control dyna mic stiffness Value range Fs Unit O O O ee ee i a es ee Es aasa C eat TT we T MSD 3200 Parameter Description 76 P 1517 Autotuning for Jsum estimation S control word wo H Write Value Setting 1 Deactivation of test signal calculation 2 Activation of test signal calculation Assistant for calculating mass inertia control word Autotuning Jsum hysteresis speed S control speed limit Value range O 100000 Data type float32 FS Mapping No Write Function P 1518 Speed limit for determining the mass inertia resis control torque limit fs i Mapping mw o o AE A es E pt Torque for determining the mass inertia Autotuning parameters for cont SCD AT ate rol and results MONOS S S HS mne Internal parameter of the autotuning function Index 00 resonant frequency w IIS AENA or AAA MS Resonance frequency P 1521 Mechanical system parameters SCD_MechPara Index 01 mass or inertia ratio load motor m w O FE S o e ICE H H C ICI FEA E Mass orineriaratiooadimoto o Oo Mass or inertia ratio load motor MOOC P 1521 Mechanical system parameters SCD_MechPara Index 02 Load point load_point C IEEE EUA AA ION II IEA Index 03 constant load torque MAcCOnsi ps po Mapping Nm O CT Index 04 friction torque m_frict fp Maing Po HT H H CHH H H re
59. motor protection characteristic P 0733 Sub Id 00 06 MON_Motorl2t P 0733 01 1 1 Current interpolation point of the motor protection cha racteristic referred to the max characteristic current P 0733 02 1 2 Current interpolation point of the motor protection cha racteristic referred to the max characteristic current characteristic t sec Overload time Y for l To protect the motor as a rule of thumb the motor protection characteristic and opera tion of the IEC standard asynchronous motor should conform to the following limit values A ETT IN 25 fb Ta The shut off point defines the permissible current time range until shut off For IEC standard asynchronous motors the shut off point to VDE0530 is set as 150 of the mo tor rated current for 120 s For servomotors refer to the motor manufacturers specifica tions Note For servomotors it is advisable to set a constant characteristic Observe the motor manufacturers specifications MSD 3200 Parameter Description 24 P 0731 max motor temperature switch MON_MotorTempMax off value 0 w IS FU SS Read CI E write Pt Setting of shut off threshold KTY84 130 only Index 00 Type sensor type Unit ead NOOO O No evaluation selected KTY84 130 Sensor PTC with short circuit monitoring PTC without short circuit monitoring Selection of temperature sensors supported by the drive UN e Al RA ROA RA
60. n E 4 Encoder interfaces The controller features a flexible encoder intertace It permits parallel evaluation of up to three encoders simultaneously Two are provided as standard and one is available as an option by way of a configuration variant e Channel 1 SinCos X7 For use of high resolution SinCos encoders e Channel 2 Resolver X For connection of resolvers e Channel 3 external encoder X8 The position measurement must be performed on the motor It may however be additionally performed on the axis mechanism measurement via motor encoder and external or optional encoder Note Position measurement via motor encoder is always required measure ment on the axis mechanism is optional Consequently the encoder on the axis mechanism is termed an optional encoder This encoder is also called an external encoder because it is mounted not internally on the motor but externally on the axis The drive controller can evaluate signals by way of both absolute and relative measure ment systems provided the encoder signals conform to the specification Regardless of the encoders used or their combinations the actual position values are evaluated by the firmware with a resolution of maximum 32 bits MOOC 4 1 The encoder structure hL ENC_Ch1_Abs ENDAT21 HIPERFACE Absolute Encoder Information Management Position a hil Control Speed Control Increm
61. n of motor and contro Calculation of motor data sets control fae To perform the calculation the nominal rated data and characteristic quantities from P 0451 MOT Name Motor name name the data sheet of the motor used must be entered in the following parameters P 0455 MOT_FNom Rated frequency By setting parameter P 1530 SCD_SetMotorControl to CALC the controller calcu MON TAG lates the required motor and controller parameters and enters the values automatically ONO aan ST in the corresponding parameters P 0457 MOT_CNom Rated current Then the parameter is reset to READY The torque control should be adequately set ae woe pales pee An adjustment to the machine mechanism and to the motion profile is also required P 0459 MOT_PNom P 0460 MOT_TNom Rated torque P 0461 MOT_J Mass moment of inertia P 0463 MOT_PolePairs Number of pole pairs P 0462 MOT_FluxNom Motor rated flux P 0470 MOT_RStat Stator resistance of a phase P 0471 MOT_LSig Stator inductance of a phase P 0472 MOT_Lsigditt Scaling of stator inductance i a Lsig_qelo q stator inductance at current I0 Lsif_q l1 q stator inductance at current Data type Bo Mapping ECON O A read we TC P 0455 Motor rated frequency MOT_FNom FS P 0451 Name of motor parameter set MOT_Name so HH mew e Pame ead II O mo P 0456 Motor rated voltage MOT_VNom w AO AA IE a IS A H we O A H w E O US H MOOC P 0457 ead we Cd Cd fone II H H No Mapping Motor
62. nel 1 Signal correc tion Values Gain track B cos ENCACAIECO Val GAIN B AU a Calculated gain factor of track B P 0550 Encoder Channel 1 Signal correc P 0562 tion Values Index 04 phase w O H wie TSC A Calculated phase correction between track signals A and B Encoder Channel 1 Number of P 0543 Multi Turn Bits Absolute Position ENC_CH1_MultiT Interface FCT IO O H INCIENSO INE ENC_CH1_CorrVal Phase Number of bits of multi turn information MSD 3200 Parameter Description 56 Encoder Channel 1 Number of Single Turn Bits Absolute Position Interface Number of bits of single turn information Encoder Channel 1 Code select E EN H1 P 0545 SSI Absolute Position interface EE Lae Unit Read A P 0544 ENC_CH1_SingleT UN Write BINARY Selection of binary coding 1 GRAY Selection of gray coding Selection of coding SSI interface Pin Encoder Channel 1 Mode select dee EN H1_M P 0546 SSI Absolute Position interface ES Mapping o Read Write Selection of mode SSI interface Encoder Channel 1 Lowest P 0547 allowable Multi Turn Position Absolute Position interface JS ICI wae Lowest multi turn information Encoder Channel 1 Enable the P 0548 use of Multi Turn Position SSI Absolute Position interface C l Value range Unit Read Write Ln Evaluation of multi turn information MOOC ENC_CH1_MTBase Value range 2147483648 to 21474
63. nt The drive controller is in the Quick stop ramp The drive remains in the quick stop system state During braking and depending on the response acceleration is again pos 5 SDR_QS iiem T E T sible in the old Control active state speed S a Braking with emergency stop ramp P 2218 me SS MP_QuickStopOC 6 QSR_QS The drive remains in the quick stop state current is applied to the axis at 0 speed Value range POFF VLIM_Q5 Data type Braking with max dynamics at current POFF Mapping S limit The speed reference is set equal to 0 7 CLIM_QS eee Be The drive remains in the quick stop state current is applied to the axis at 0 speed Setting Function Response to quick stop option code Quick stop i POFF aa A 4 Sns T The transition to the Ready to switch on state is only possible by resetting eee the quick stop request In the Quick stop state the cancellation of the Start con The drive brakes with the programmed trol drive signal has no effect before the quick stop request has also been reset deceleration ramp then the power stage is disabled KAO Oc MSD 3200 Parameter Description 25 Chapter 3 MOOC Response to Shutdown Option Code Control off The Control off state transition is passed when the power stage is switched off The control is switched off by way of various control channels terminals bus PLC P 2219 605B H E O option MP ShutdownOc e O a
64. ol manual mode by way of the Moog Drive Administrator can be protected by a password Manual mode Protection of the user data set The original data set can be edited for test purposes but cannot be saved This enables an existing data set to be protected against unwanted changes Data set operations MSD 3200 Parameter Description 107 MOOC MSD 3200 Parameter Description LE 12 Actual values 12 1 Actual values Motion Profile rs Jo o mm 5 Actual position in user units P 0277 Reference position in user units MPRO_FG_UsrRefPos FS so p map Pon ead II H we Ss ooo MOOC Chapter 12 FS ra ooo o we 5 gt Position input target position in user units Value range 2147483648 to 2147483647 Data type AS Position tracking error in user units sa ping ves w IE IO EU H ka H ECON INE CT MSD 3200 Parameter Description 109 MOOC P 0281 Actual speed in user units MPRO_FG_UsrActSpeed maane CH H H H ned we TT Actual speed in user units P 0282 Speed command in user units MPRO_FG_UsrCmdSpeed Ming ve w H o FEU CHH HH CHH H H speed input Speed input P 0312 Actual motor voltage rms phase CON CCON VMot to phase ee C o p E IEEE CHH H CHH H MSD 3200 Parameter Description 110 P 0410 Actual DC link voltage COME Gin DE rs q o o mig ves a H CHH H H CHH H Current DC link voltage re mein HT H H H CHH H H we 5 H H aasa SSCS
65. on Base software Description and parameter Hardware and software of setting on the MSD 3200 the field bus configuration Description and parameter Hardware and software of setting on the MSD 3200 the field bus configuration Description and parameter Hardware and software of setting on the MSD 3200 the field bus configuration Description and parameter Hardware and software of setting on the MSD 3200 the field bus configuration Short description of all para Base software meters Fig 1 Overview of drive controller documents MOOC How do I read the documents First be sure to read the Operation Manual so as to install the device correctly Refer to the Application Manual with regard to the basic configuration and operation of the motor If the device is controlled by way of a field bus option card please use the separate user manuals for the individual bus systems The parameter list sets out all the parameters at the Local Administrator level the user level of the Moog Drive Administrator in table form Their sequencing is oriented to the layout of subject areas in the Moog Drive Administrator MDA 5 x Consequently the parameters are not numbered consecutively A key to the symbols used and a descrip tion of the parameter tables are set out on the following pages Attention Failure to comply with the safety instructions during commissioning may pose a danger to life for the operating personnel and lead to destruction
66. on with minimized motion 4 IECON Here too the rotor must be able to move Ho wever an appropriate parameter setting can reduce the rotor motion to a few degrees mm Evaluation of analog Hall sensors Selection of the commutation methods for various application requirements sm pig Jo THT HT CNI S G wae IC A E Percentage scaling of the gain factor of the angle controller The precondition is a well adjusted speed control loop Increasing the gain results in a reduction of the motion An excessively high gain will result in oscillation and noise Commutation detection times CON_ICOM_Time Commutation detection times CON_ICOM_Time Bo o o main w C SC Time setting t 0 to t 3 Commutation detection currents CON_ICOM_Current so o mig o CHH H CHH H CHH H H 5 2 10 Commissioning P 0400 Additional d current reference CON _FM_AddisdRef value FS so po mag Pon ead o o o H we oo H Additional d current reference value MOOC P 0401 Additional ce reference CON SCON_ AddTRef Value range 3 4 E38 to 3 4 E38 Data type float32 FS po Mapping without ramp Ss mag O es O H AA 3 gt O E P0403 Additional position reference CON_IP_AddEpsRef value FS 2147480000 to 2147480000 Data type float32 ka H H Additional position reference value MSD 3200 Parameter Description 13 Chapter 5 MOOC P 0404 Additional speed reference value CON_SCON_AddSRamp with ramp Unit ro
67. oned dependent on the current switching frequency setting e Pl values for the speed controller and the P value for the position controller gain 2 2 PS linear motor To perform the calculations based on the characteristic quantities for the linear motor pa rameter P 0490 must be set to the value LIN This automatically sets the number of pole pairs of the motor to 1 P 0463 As a result a North to North pole pitch corresponds to one virtual revolution which is configurable in parameter P 0492 Magnet Pitch MOOC List of key parameters for setting of PS motor field model P Note The grey backed parameters are identical to the parameters described gt in section 2 1 for the PS synchronous motor Parameter 490 MOT_IsLinMot must be set to the value Lin1 This automatically sets the P 0490 MOT_IsLinMot number of pole pairs of the motor to 1 As a result a North to North pole pitch corresponds to one virtual revolution P 0491 MOT CalcLin2Rot Calculation of motor data from a linear to a rotary motor system Distance between two magnetic poles P 0492 MOT_MagnetPitch North North P 0498 ds Signal period of the encoder P 0470 MOT_RStat Stator resistance of a phase P0471 MOT_LSig Stator inductance of a phase P 1530 SCD_SetMotorcon 1 Start calculation of motor and control trol parameters MSD 3200 Parameter Description 19 Chapter 2 MOOC P 0491 Calculate from linear to rotary MOT CalcLin2Ro
68. orque force pre control Position delay in positi P0377 Feedforward signals enabled CON IP EnableFF P 0374 osition S ay in position control CON_IP_EpsDly P 0377 Feed forward signals enabled CON_IP_EnableFF eysles GON Senile Value range ES maig A O po Activation of pre control Friction compensation scaling P 0375 Speed feedforward scaling factor CON_IP_SFFScale P 0386 CON_SCON_TFric FS FS 1 Prediction of the position controller E Es aasa CHH A CTI ICO A A wie Od we Od 100 1 C H oe __ MOOC MSD 3200 Parameter Description Ve Chapter 5 MOOC 5 2 9 Auto commutation IECON method isdref l P 0393 11 CON_ICOM Current s lto amp ge P 0392 CON_ICON TIME t o t 1 t 2 t 3 Fig 5 2 9 1 Synchronization of the current rotor position to the zero of the incremental encoder Commutation detection control P 0390 E CON_ICOM word for selection sil pF Function is disable Commutation with motion In this method the rotor may move by as much as half a rotor revolution or half a pole pitch unit MSD 3200 Parameter Description 74 P 0390 Commutation detection control CON ICOM word for selection Commutation with braked machine The machine must be blocked by a suitable 2 LHMES brake during auto commutation The occur ring torques and forces may attain the rated torque and force of the machine IECSC Not implemented Auto commutati
69. r bw Feedback branch Fig 5 1 1 Block diagram of control MOOC MSD 3200 Parameter Description FEEDA Chapter 5 MOOC 5 2 Control parameters vait O O S E o S EE A eee for test operation SCON Flux Control PCON Position control Current control This mode is used only ICON for test operation Selection of control mode The drive controller features a cascade structure Consequently the following sequence must be observed in controller optimization 1 Optimization of torque controller 2 Optimization of speed controller 3 Optimization of position controller The VFCON and ICON settings are for use only in test operation rs p mag o une CdS CHH H H CHH H H MSD 3200 Parameter Description 62 5 2 1 VEC mode open loop dana cade unit O S O O E Boost voltage in VFC mode P 0314 Voltage frequency control nomi CON VEC Eom nal frequency T H H Rated frequency in VFC mode C H wie Cd 5 2 2 Torque control w HT H H H ka H o y yO C O A H Setting of the gain for the torque controller see also section 2 5 of the Applica tion Manual CON_CCON_Tn C H HT CHH HH wie CTC Setting of the lag time for the torque controller see also section 2 5 of the Application Manual Current Control Integration time P 0311 9 constant MOOC 5 2 3 Anti cogging P 0380 Index 00 249 Anti Cogging compensation current table As AAA Anti cogging To compensate for d
70. ry selection of driving set 8 Function selector of analog inputs ISAOO 01 marked in grey With 4 digital inputs 16 driving sets can be selected 6 4 Analog outputs Analog output P 0129 OFF 0 e P0130 SE NACT 1 L bagi Filter Scale Offset IRMSG as Ez ISAOX 4 P0133 P0132 P0131 Index 0 1 Index 0 1 Index 0 1 Fig 6 4 1 Selector for the analog outputs P 0129 P 0130 ES Read pwrite O S Function of analog output OSA00 01 OFF ISA00 OFF ISA01 MPRO_INPUT_FS_OSA00 01 i Function selector of analog outputs OSADO 01 Reference readout always corre sponds to an output of O 10 V MOOC Chapter 6 Voltage offset for analog output OSA00 01 10 to 10 Data type float32 MPRO_OUTPUT_OSA00 01_Offset Scale factor for analog output OSA00 01 Filter times for analog output OSA00 01 MPRO_OUTPUT_OSA00 01_ Filter Value range 0 65 Data type so To o maig o ECON a EOI H ka ooo o o S E wae O EOI FO E Filter time for the analog output MSD 3200 Parameter Description 89 MOOC 6 5 Motor brake P P0125 Function of motor brake x13 Function of motor brake x13 motor brake x13 MPRO_INPUT_FS_Motor_ MPRO_INPUT_FS_Motor_Brake 0P Mapping AAN RRA Ra A we T This contigures the output for use of a motor holding brake BRAKE If no brake is used the output can be used for a wide variety of other functions see section 6 2 parameters P 0122
71. s h api ne wo P H SSS C H H CH H 1 Hours timer active power stage 12 1 2 I O status P 0121 I O status I O status States of digital inputs MPRO_INPUT_STATE I aasa w eat TT we T Status of the digital inputs I O status P 0143 States of digital outputs MPRO OUTPUT STATE 00000000 to 01111111 so o ping e w SS A ka o o oo g S we os Cd Status of the digital outputs I O status P 0407 S ee CON_ANA_Isaf actual value of analog inputo Index 00 filtered 10 V gives 1 0 aay rs HH ping e w H HH maT CHH H H value of analog impuso OOS Value of analog input ISADO MOOC Chapter 12 P 0407 A CON ANA sai actual value of analog input1 Index 01 filtered 10 V gives 1 0 oe AAA Value of analog input ISA01 Ln P 0134 Values of analog outputs set by RO O aus parameter Index 00 Values of analog output 0 SE A we A Value of analog output OSADO P 0134 Values of analog outputs set by VIO ota O84 values parameter Index 01 Values of analog output 1 a 2 Write Value of analog output ISAO1 MSD 3200 Parameter Description Mts MOOC MSD 3200 Parameter Description Arra Index A L sere gs ae eee an ene E mone en oe ee A T 11 iee 109 Alara ana Kie 99 Analog channel ANAO 1 cose vesmcosrcisusennsezeeeoensiadsuoevuebesvbecsmiazonceurectece 44 PaO o E E E 86 Analog OUTPUT eierne nnne EE E EE N EE NEEE REEE 89 PCO AG MN T 63 AS motor aSYNCMTONOUS MOTOT essers
72. sages P 0030 Programmable reaction in case of as 00 failure G H IEEE D H H Setting ErrorReaction Function The user can program an initial specific error Specific1 l response by way of the internal PLC The user can program a second specific error Specific2 l response by way of the internal PLC The error is registered The error response is FaultReactionOptionCode made according to the preset error Opti onCode ServoStop Quick stop wait for control restart Quick stop block power stage secure ServoStopAndLock against restarting ServoHalt Block power stage ServoHaltAndLock Block power stage disable Block power stage reset only by switching WaitERSAndReset the 24 V control voltage off and back on MOOC Chapter 8 P 0030 Programmable reaction in case of l ErrorReaction Index 00 failure These programmable error responses apply to all error messages from index 00 to index 35 see Application Manual section 7 Diagnosis 8 1 2 Error description Actual Error Sea 00 Error cause Cause a A w A CHH H H CHH H FT Error cause P 0033 Actual device error ActualError Index 01 Error remedy Remedy w O A H Read we 5 Suggested remedy MSD 3200 Parameter Description 39 MOOG MSD 3200 Parameter Description 100 P 0033 Actual device error ActualError Note The grey backed parameters will only be available as from firmware Fs TIC FS E O A P
73. t motor data we gt Calculation of the field model of a linear drive translation of a linear field model into a rotary field model P 0492 MOT_MagnetPitch Value range 0 Data type Width of one motor pole Write Pole pitch of the magnets Magnet Pitch MSD 3200 Parameter Description 20 fue IE DO H H CHH H H CHH H H Fate weloiy OSS S Rated velocity w IAS EA H wae SO P 0496 Mass of motor slide MOT_MassMotor we a S S P 0497 Mass of total an aie by the OE Mapping os wie gt Oo oo o Sum total of moved mass PO A P 0498 Period of line signals MOT_EncoderPeriod 0 H IES we gt S Length of one signal period of the encoder 2 MOOC The following values are calculated e Translation of the linear nominal quantities to virtual rotary nominal quantities Default values for auto commutation e Lines per encoder per virtual revolution Flux settings torque constant V F characteristic Control settings for PI current controller The current controller is dimensioned dependent on the current switching frequency setting e Pl values for the speed controller and the P value for the position controller gain In this a moderately rigid mechanism and a 1 1 mass moment of inertia adjust ment from the load to the motor are assumed MSD 3200 Parameter Description 21 Chapter 2 MOOC 2 3 AS motor asynchronous motor The parameter descriptions for parameters
74. ter PT1 unit fms 1 Filter Notch Red O S O OO write fot S SSS O 1 Filter OFF s i gt Filter PTI Filter time for the actual speed Krs 1 Filter OFF 2 Filter PT2 Speed reference filter time for P 0371 i CON_IP_RefTF G 1 Filter OFF TE control mode 2 Filter PT3 EE 2 Filter PTA pping S G SOS EEES SN was A Filter time for the reference speed 5 2 6 Observer Ps o oo Mappimg No Unit Read Write Expanded control structure Gain factor for the acceleration sensor P 0323 Advanced control structure gains Index 01 Speed difference feedback SON ONE SO ee 2 A Write Index 02 torsional torque feedback Value range 3 4E 38 3 4438 Data type float32 S Maing w IO H ka H me EE AE Expanded control structure Gain factor for torsional torque feedback CON_SCON_K_dmlm MOOC A P 0323 dvanced contro structure gains CON SCON_K mload Index 03 load torque compensation w H Read H Wie Expanded control structure Gain factor for load torque compensation Advanced control structure filtering D control accelleration feedback Expanded control structure Filtering for the acceleration sensor daa Speed difference feedback CON_SCON_K_dvlm Index 01 rs IN ain e TEO H Expanded control structure Filtering for speed difference feedback MSD 3200 Parameter Description Gy Chapter 5 MOOC eee Torsional torque feedback CON_SCON_K_dmlm Index 02 ag wee TSC P 0
75. tered if required The filter time is disabled in the factory setting P Note The same settings also apply to parameter P 0406 of analog channel ANA1 and so are not listed separately MSD 3200 Parameter Description 48 3 8 State machine DRIVECOM P 0145 A O O IO oa es arosiDe shut down command wite 0 T A Activation of the check of the Quick Stop command Transition from state 2 switch on disabled to state 3 ready to switch on me PM wah Unit Read A H Write tm TA A red SO Activation of the check of the Quick Stop command Transition from state 3 ready to switch on to state 4 switch on sxo P 2 P 0147 DriveCom Check enable power MPRO_DRVCOM_EPCHK CH H H CHH H H C S E ENPO is AA on by way of the motor contactor ENMO eo O a oO Check of transition from Ready to switch on 3 or Switch on disabled 2 if hardware contact ENPO is switched via the motor contactor P 0149 DriveCom Start initialisaton of MPRO_DRVCOM Init system parameter w H CHH H CHH H This message Is triggered when during an initialization a change to a parameter which 1 ERROR1 l l A itself triggers an initialization causes that initialization to be additionally triggered DONE Initialization is complete START Trigger initialization manually Manual triggering of device initialization MOOC Chapter 3 MSD 3200 Parameter Description 49 MOOC MSD 3200 Parameter Descriptio
76. tion zero pulse Neg reference cams zero pulse at Homing to cam positive edge negative RefNock High direction zero pulse the position of the zero pulse are defined P 2261 6098H DS 402 homing method MPRO_402_HomingMethod left reference cam polarity zero pulse at l l 7 to 14 Various homing runs to cam RefNock Low 15 Neg end switch Homing negative limit switch Pos end switch Homing positive limit switch Homing to cam negative edge positive 19 Pos reference cams Stop at RefNock Low a direction Index 00 Speed during search for switch SpeedSwitch z Homing velocity V1 at which the drive moves until the first homing event reference cam zero pulse limit switch Homing to cam positive edge positive 20 Pos reference cams Stop at RefNock High OS direction Homing to cam negative edge negative 21 Neg reference cams Stop at RefNock Low direction 22 Neg reference cams Stop at Homing to cam positive edge negative RefNock High direction left reference cam polarity Stop at l l 23 to 30 Various homing runs to cam RefNock Low P 2262 6099HDS 402 homing speeds les 01 homing speeds Speed during search for zero C H H CHH H CHH H E Homing velocity V2 at which the drive slowly approaches the reference position MPRO_402_HomingSpeeds Speed Zero t 33 Next left zero pulse Zero pulse in negative direction Next right zero pulse Zero pulse in positive direction 35 Ac
77. tions Local administrator Level 2 Default setting Password required This parameter level is available only to MOOG commissioning specialists Global administrator Level 3 Custom user level Password required This parameter le vel is available only to MOOG develop ment specialists Development level Internal Level4 Custom user level MOOC Chapter 11 11 2 Passwords Protection against misoperation All drive controllers including those in multi axis systems can be protected by pass words The passwords can be generated by users themselves and prevent unrestricted access to the device rue VIENY CUIL CAL a gt V INIUUYYS Meip Ob S lt d Local administrator R Up 6392 000 H sae P a7 file Eo J From file Project A X 3witchFreq G Motion profile 94 PARA_PSW ParaDownloadAndSave 95 3 a x omme e Online a Passwords used to control parameter access New project BB TCP IP 192 168 39 5 J G392 000 4 Digital Scope Signals 3 Channels Control Time Data set operations Fitter 2 s Local administrator 3 Passwords used to control hosts device access C C Manual mode P Trigger PLC Fig 11 1 1 Password form In the top section of the form a password can be assigned for the Fitter and Local administrator level thereby restricting access to specific parameters Protection can be extended by a password for Contr
78. tor w IO a E MOOC P 0515 HGG G ISIS S LEO Encoder Channel 2 Denum minator Red wie UU Denominator of the encoder gearing option X8 tion Interface Select Value range O O Ass IO O I Encoder Channel 3 Index Pulse _ 0 _ MSD 3200 Parameter Description 59 Chapter 4 MOOC P 0572 Encoder pases Number of ENC_CH3_ Lines FS 2048 No Write INE Number of lines of the optical encoder per motor revolution option X8 P 0576 Encoder S Type of TTL ENGEGFCE OCI Value range Data type uint16 FS A_B No ECT O AA HT read wie TTC FEA E Selection of the signal type of the TTL signals option X8 as from V 2 0 P 0573 OS SETAS Number S Encoder Channel 3_MultiT Multi Turn Bits V w o H ka o H we CO Number of bits of multi turn information MSD 3200 Parameter Description 60 P 0574 SR SL i uaa q Encoder Channel 3_SingleT Single Turn Bits wee T Number of bits of single turn information P 0575 ENC_CH3_Code wie H 3 Selection of the coding protocol type for SSI absolute value encoders 5 Control 5 1 Block diagram of control Pre control with position control P 0376 2 P0372 P 0375 A O hp O sosition an A _ S isq_FF Speed control nref FF P0322 eps_RS isq Current control gt P 0321 P 0374 P 0360 LOSE os_delta pia isaref nreo Tjen ee pea position Pose speed controller velocity posact ag CORE P 0351 dig Filte
79. tual position Reference position Zero is current position The homing method specifies the event to set the reference point The descriptions of the various homing methods are given in section 3 3 of the MSD 3200 Application Manual Reference cam limit switch The reference cam signal can be optionally linked to one of the digital inputs Inputs ISDOO to I5DO6 are available In homing to a limit switch the digital input must be se lected with the available selection parameter LEW 5 for a positive or LECW 6 negative limit switch In homing to a cam the selection parameter HOMSW 10 must be chosen see parameters P 0101 P 0107 MOOC MSD 3200 Parameter Description 29 Chapter 3 MOOC P 2263 609AH DS a accelera MPRO_402_HomingACC FS 100 H A Red H H ire Y P 2234 607CH DS 402 home offset MPRO_402 HomeOffset FS ICONOS IEA H Red SO arto H H MSD 3200 Parameter Description 40 3 5 Manual Jog mode Manual mode is only applicable to the Positioning operation mode When jog mode is active however the drive is operated in velocity controlled mode infinite For this mode two velocities are selectable They can be activated via terminal or field bus The drive is controlled in jog mode via two signals inputs either in positive or negative direction If one of these signals becomes active and if loop control is active the drive moves in slow jog mode Quick jog is activated by additionally actuating

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