Moog T200 User Manual

SECTION 8: HAND-HELD-TERMINAL INTERFACE T200 User's Manual
PAGE 8-13
SGP
Set the Position Loop Proportional
Gain G
GD
Decrease the Position Loop
Proportional Gain G
GU
Increase the Position Loop
Proportional Gain G
SGT
Set the Torque Feedforward Gain
GT
SGV
Set the Velocity Feedforward Gain
GV
SJ
Set the Observer Inertia J
JD
Decrease the Observer Inertia J
JU
Increase the Observer Inertia J
OO
Enable or disable use of the
Observer Velocity Estimate
SSA
VP
Set Set-Point-Achieved Velocity
SSA
VB
Set Set-Point-Achieved Velocity
Band
SSAT
P
Set Set-Point-Achieved Torque
Percentage (as a fraction of Peak-
Torque of the motor servo-drive
combination)
SSAT
B
Set Set-Point-Achieved Torque Band
OSP Enable the Set-Point Achieved fuction
8.4.11 Diagnostics Commands
OTA Set the internal process variable which
is to be displayed on analog Test Point
A:-
1. Torque
2. Commanded Velocity
3. Actual Velocity
4. Error Velocity
5. Reference Position
6. Actual Position
7. Error Position
8. Filtered Actual Velocity
9. Observer Estimated Velocity
10. Observer Estimated Error
11. Point Diagnostic Channel 1
OTB Set the internal process variable which
is to be displayed on analog
Test Point B
1. Torque
2. Commanded Velocity
3. Actual Velocity
4. Error Velocity
5. Reference Position
6. Actual Position
7. Error Position
8. Filtered Actual Velocity
9. Observer Estimated Velocity
10. Observer Estimated Error
11. Point Diagnostic Channel 2
OTP0 Zero reference the test point output
position display variable
SFI
Set Mode of Fault Indication
LFI
List Mode of Fault Indication
?B List the Power Amplifier heatsink
temperature
?E List the Encoder Position
?F List the present fault conditions
?FL List the present latched fault
conditions.
NOTE:- the T200 front panel 7-
segment display shows all fault
conditions, which occurred up until this
command, is used. Use of this
command then clears the display of
such faults, if these faults are no longer
present.
?G Check Gravity Compensation Status
?H List the Fault History of the drive.
?L List the maximum allowed drive
phase current
?LB List the bridge thermal current limit
?LM List the motor thermal current limit
?LMR Check the average motor RMS
current over the last 28s (used for
applications sizing)
?LR List the RMS thermal current limit
?LRR Check the average regeneration
power expended over the last 28s
?M List the motor windings temperature
?O Lists if the Point Extended I/O Card
is present or not.
?P List the present Motor Position
?PF List Personality Plug Faults
?PR List the present number of Motor
Revolutions travelled.
?S List the following T200 Status items:-
• Programmed Compensator type
• Programmed Reference
• Torque-Mode
• Disabling of Limit Switches
• Disabling of Thermal Protect
• Disabling of Manual Mode
• Indication of Break Released
•
Enabling of use of the Velocity
Observer
?V List the present average velocity of
the motor
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Moog T200 Specifications

General

Brand	Moog
Model	T200
Category	Servo Drives
Language	English