Moog T200 User Manual

T200 User's Manual SECTION 6: T200 FUNCTIONAL OVERVIEW
PAGE 6-4
Section 6 Table of Figures
Figure 6.1:- Analog Command Mode System Diagram...................................................................................................6-6
Figure 6.2:- CAN Interface Mode System Diagram.........................................................................................................6-7
Figure 6.3:- Stepper Interface Mode System Diagram .....................................................................................................6-8
Figure 6.4:- Digital Velocity Reference Mode Block Diagram........................................................................................6-9
Figure 6.5:- Point Mode Block Diagram ........................................................................................................................6-10
Figure 6.6:- Rotational Convention for Mechanical Process Variables .........................................................................6-11
Figure 6.7:- T200-X10 in Single-Axis Application........................................................................................................6-13
Figure 6.8:- T200-X10 in Multi-Axis Application .........................................................................................................6-14
Figure 6.9:- Set Point Achieved Example.......................................................................................................................6-23
Figure 6.10:- Torque and Velocity Function Generator Output Waveform ...................................................................6-25
Figure 6.11:- Position Mode Function Generator Output ...............................................................................................6-26
Figure 6.12:- Torque Mode Analog Interconnect ...........................................................................................................6-29
Figure 6.13:- Torque Reference Rate Limiting...............................................................................................................6-31
Figure 6.15:- T200 Velocity Limiting Mechanism in Torque Mode..............................................................................6-32
Figure 6.16:- Torque Limit Reduction as a function of Spare Analog Input (SAIN) .....................................................6-33
Figure 6.17:- T200 Torque Mode Block Diagram ..........................................................................................................6-34
Figure 6.18:- Velocity Reference Rate Limiting.............................................................................................................6-37
Figure 6.19:- Velocity Mode Block Diagram .................................................................................................................6-38
Figure 6.20:- T200 Observer Tuning ..............................................................................................................................6-42
Figure 6.21:- Position Mode Block Diagram..................................................................................................................6-47
Figure 6.22:- Position Error Monitoring.........................................................................................................................6-50
Figure 6.23:- Detectable Short Circuit Faults.................................................................................................................6-52
Figure 6.24:- Encoder Simulation Signals on Connector J7...........................................................................................6-64
Figure 6.25:- Quadrature Incremental Encoder Input on J5............................................................................................6-66
Figure 6.26:- Stepper Motor Interface Interconnect .......................................................................................................6-68
Figure 6.27:- Stepper Motor Interface Mode Signals on Connector J5 ..........................................................................6-69
Section 6 Table of Tables
Table 6.1:- Magnitude of the D.C. Bus...........................................................................................................................6-15
Table 6.2 Digital Input Speed Programming ..................................................................................................................6-21
Table 6.3 Digital/Relay Outputs (Mode 1) .....................................................................................................................6-58
Table 6.4 Status Indication via DO4 and DO5 (Mode 1) ...............................................................................................6-58
Table 6.5 Digital/Relay Outputs (Mode 2)......................................................................................................................6-59
Table 6.6 Status Indication (Mode 2) .............................................................................................................................6-60
Table 6.7:- Incremental Encoder Input Specification .....................................................................................................6-66
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Moog T200 Specifications

General

Brand	Moog
Model	T200
Category	Servo Drives
Language	English