Moog DS2000XP GUI Manual PDF

CAUTION
USE OF THE DS2000XP GRAPHICAL

USER INTERFACE, OTHER THAN IN
ACCORDANCE WITH THE
INSTRUCTIONS HEREIN OR OTHER
SPECIFIC WRITTEN DIRECTIONS FROM
MOOG, WILL INVALIDATE MOOG'S
OBLIGATIONS UNDER ITS WARRANTY.
REFER TO MOOG WARRANTY (PAGE
T/P-2) FOR COMPLETE PROVISIONS
THEREOF.
MOOG
INDUSTRIAL CONTROLS DIVISION (ICD)
DS2000XP GRAPHICAL USER INTERFACE MANUAL
Document No.: LSF-0577

Revision : Rev Orig.
Date: 22 Dec 2004
MOOG INDUSTRIAL CONTROLS DIVISION

TEL 716/655-3000
800/272-MOOG
2
WARNING
THE MOOG SYSTEM INVOLVES THE INTERFACE OF ELECTRONICS,
MECHANICS AND COMPUTER TECHNOLOGY. THIS MANUAL
OUTLINES THE PROCEDURES REQUIRED FOR SYSTEM OPERATION.
UNDER NO CIRCUMSTANCES SHOULD AN OPERATOR ATTEMPT TO

OPERATE THE SYSTEM WITHOUT TRAINING AND FULL
UNDERSTANDING OF SYSTEM OPERATION.
SHOULD THERE BE ANY QUESTIONS REGARDING THE

INFORMATION PRESENTED HEREIN PERSONNEL SHOULD CONTACT
MOOG INC. FOR CLARIFICATION.
MOOG
Phone: (716) 655-3000
(800) 272-MOOG
Document No.: LSF-0577
Revision: Rev Orig.
Date: December 22, 2004
MOOG INDUSTRIAL CONTROLS DIVISION

TEL 716/655-3000
800/272-MOOG
3
WARRANTY
Moog warrants that each item of its manufacture shall at the time of installation, conform
to applicable specifications and drawings, and be free from defects in material and
workmanship. Design, essential performance, or other provisions expressly stated to be
goals or objectives shall not be deemed to be requirements subject to this Warranty.
Unless otherwise specified, Moog’s obligation under this Warranty shall be limited to
repair or replacement, at Moog’s option, of any item, which within twelve months from
date of installation is proven to Moog’s satisfaction to have been nonconforming at the
time of installation. As a condition of this Warranty, Buyer shall notify Moog in writing of
any claimed nonconformance immediately upon discovery and shall return the item to
Moog for inspection. Moog shall not be responsible for any work done or repairs made
by others at any time. Disassembly by anyone other than persons authorized by Moog
will void the terms of this warranty.
Moog shall not be responsible for the performance of any product, which incorporates
items manufactured by Moog unless such performance is expressly designated as
Moog’s responsibility under the terms of the written agreement between Moog and
Buyer.
Moog shall not be liable for improper use, installation, accidents, operation or
maintenance of items manufactured by Moog, nor for any damage resulting there
from or from negligence on the part of the Buyer’s employees or agents.
Moog shall not be responsible for any consequential or incidental damages

occasioned by failure of any item supplied by Moog, or by failure of any item in
which a component manufactured by Moog is incorporated.
Unless previously agreed in writing, Moog shall not provide field repairs, modifications,
or any other field service under this Warranty.
Moog shall not be responsible for the performance of any product which incorporates
component parts manufactured by Moog unless such performance is expressly
designated as Moog’s responsibility under the terms of the written agreement between
Moog and the customer.
THE WARRANTIES CONTAINED HEREIN ARE EXCLUSIVE AND ARE GIVEN IN

LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED OR STATUTORY,
INCLUDING THE IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A
PARTICULAR PURPOSE, AND ALL OTHER OBLIGATIONS AND LIABILITIES.
LSF-0577 Moog
Rev. Orig. DS2000XP GRAPHICAL USER INTERFACE MANUAL
4
THIS PAGE INTENTIONALLY

LEFT BLANK
LSF-0577 Moog
5
1.0 DOCUMENT OVERVIEW ............................................................................................7

1.1 PURPOSE.................................................................................................................7
1.2 SCOPE......................................................................................................................7
2.0 INSTALLATION ...........................................................................................................8
2.1 PURPOSE.................................................................................................................8
2.2 SCOPE......................................................................................................................8
2.3 INSTALLATION.........................................................................................................8
3.0 OPERATION ..............................................................................................................16
3.1 COMMUNICATION CABLE FOR GUI INTERFACE ...............................................16
3.2 ACTIVATING THE GUI ...........................................................................................16
3.3 FIRST TIME COMMNICATIONS CONFIGURATION..............................................17
3.4 THE SHORTCUT BAR ............................................................................................19
3.5 EEPROM SAVE ......................................................................................................20
3.6 CONFIGURATION UPLOAD...................................................................................21
3.7 CONFIGURATION DOWNLOAD ............................................................................21
3.8 ACTIVATING THE MODEL TEMPLATE .................................................................22
3.9 DRIVE CONFIGURATION SCREEN ......................................................................22
3.10 TEMPLATE MODEL SCREENS .............................................................................24
3.10.1 Monitor ..............................................................................................................25
3.10.2 Cmnd – Ctrl – Motion – Tuning..........................................................................26
3.10.3 Geometry – Units – I/O......................................................................................29
3.10.4 Homing – I-T Fold back – Thermal ....................................................................31
3.10.5 Motor Parameters..............................................................................................34
3.10.6 Faults & Warnings .............................................................................................36
3.11 USING THE DATALOGGER ...................................................................................38
3.12 FAULTS...................................................................................................................41
LSF-0577 Moog
6
THIS PAGE INTENTIONALLY

LEFT BLANK
LSF-0577 Moog
7
1.0 DOCUMENT OVERVIEW

1.1 PURPOSE
The purpose of this manual is to provide the engineer and/or system programmer
with the required information necessary to integrate the DS2000XP Servo Drive
to the Whittaker Gas Fuel Metering Valve. This manual outlines the correct
method to provide proper communication between these two components and
gives detail on the configuration of the DS2000XP Template Model. If
information beyond the scope of this manual is required contact:
Moog Inc.
Industrial Controls Division Sales and Marketing
East Aurora, N.Y. 14052
Telephone (716) 655-3000
(800) 272-MOOG
1.2 SCOPE
This document describes the standard computer interface provided with the
DS2000XP . The interface information is provided for the designer of the system
controller, and configuration information is included for the designer / integrator of
the system controller.
LSF-0577 Moog
8
2.0 INSTALLATION
2.1 PURPOSE
The purpose of this section is to provide the user with insight into the installation
process and the computer screens that will appear.
2.2 SCOPE
The distribution of the Graphical User Interface consists of an executable setup
program (setup.exe) and 4 or more binary files (setup-x.bin) for the installation.
The installation files are typically distributed on a CD.
2.3 INSTALLATION
To install the Graphical User Interface execute the setup program by double-
clicking on it from Windows Explorer or by clicking the “Start” button on the
Windows desktop, then selecting “Run…” and “Browse…” to browse for the
setup.exe file.
When the setup program is executed, the DS2000 User Interface Setup Wizard
will appear:
Click “Next” to continue…
LSF-0577 Moog
9
The next step is to decide where the Graphical User Interface should be
installed. The default location is C:\DS2000XP. You can type in a different
location or browse through the directory structure to select a different location:
The next step is to decide a Start Menu folder name for the program shortcuts.
The default folder name is DS2000XP:
LSF-0577 Moog
10
The program is now ready to start the install. The program will show the
installation selections:
Click “Install” to continue…
The installation will begin:
LSF-0577 Moog
11
The Graphical User Interface utilizes several components that are already found
on some computers but not on others. For completeness and ease of installation
all these components have been included in this installation package. Some of
the components will ask the installer if they should be installed. If the installer
knows that the particular component is already installed on the system, the
installer may answer “No” to the question. Otherwise please answer “Yes” to
have the component installed:
Click “Yes” to install the Visual Basic 6.0 run time files (required for operation)…
On most computers the Microsoft Common Controls are already installed and
you will see this message:
LSF-0577 Moog
12
Click “OK” to continue…
The component Windows Script 5.6 is required for proper operation:
Click “Yes” to install Windows Script 5.6…
This component requires the installer to agree to its End-User License:
LSF-0577 Moog
13
Click “Yes” to agree to the End-User license agreement…
The Windows Script 5.6 installer will display the result of the installation:
Click “OK” to continue…
Additional windows may ask you in the same manner to install other
components. If any component gives you the choice to either restart the
computer now or wait until later, please answer “No” to restarting.
LSF-0577 Moog
14
Finally the DS2000XP User Interface Setup wizard will show you the following
screen. The installer has the option to view the Readme.txt file and/or launch the
Graphical User Interface.
An option to restart the computer might also the present. At this point in the
installation it is okay to let the wizard restart the computer. Otherwise the installer
must do this manually before running the application.
Click “Finish” to finish the DS2000XP User Interface Setup. This completes the
Graphical User Interface installation.
The Graphical User Interface can be activated by double-clicking the DS2000XP

GUI icon on the desktop or by selecting the DS2000XP GUI entry from the
DS2000XP folder:
LSF-0577 Moog
15
LSF-0577 Moog
16
3.0 OPERATION
3.1 COMMUNICATION CABLE FOR GUI INTERFACE
To communicate between a PC/Laptop and the DS2000XP a standard RS232
Null Modem cable is used:
3.2 ACTIVATING THE GUI

Double-Click the DS2000XP GUI icon on the Desktop to activate the GUI. A
splash screen will be shown while the GUI is initializing and then the main GUI
screen will appear:
LSF-0577 Moog
17
The GUI has 4 top-level menus: File, Drive, Model and Help. The screens for the
Template Model can be found in the Model menu. This manual focuses on
functionality related to the Template Model, hence some of the screens in GUI
that are not used when running a Template Model will not be detailed here.
3.3 FIRST TIME COMMNICATIONS CONFIGURATION

When the Graphical User Interface is first activated or if a different Template
Model is loaded to the DS2000XP drive, the communications interface between
the PC/Laptop and the DS2000XP must be configured.
Click on the “File” menu and select the “Communication Setup” screen:
LSF-0577 Moog
18
The following choices are available:
Protocol There are currently two protocols implemented, Modbus and PSC. The
protocol in the GUI must be set according to the protocol of the DS2000XP
firmware code.
For the Whittaker/Rolls Royce application, the correct setting is PSC.
Comm Port Select the Com Port that will be used for communication.
Drive Hex ID If the PSC protocol is used for communication, the setting of “ID1” and “ID2”
in the GUI is disabled, as they are not used.
If the Modbus protocol is used for communication, the Drive Hex ID
switches on the front of the DS2000XP selects the address ID for Modbus
communication and the “ID1” and “ID2” in the GUI must be set accordingly.
Baud Rate The Baud Rate is fixed at 9600 baud.
Comm Setting In case of communications problems the following parameters sets up how
the GUI handles this.
Time Out (ms) The GUI tries to read or write a parameter to the drive for the specified
Time Out time.
Retries If a communication Time Out occurs, the GUI will retry to read or write a
parameter for this number of times.
Ignore Parameter Unless this checkbox is selected the GUI will inform the user with a
Read/Write Comm. message box of any communication errors. If this checkbox is selected, the
Errors And Continue. GUI will continue in spite of an error and try to read or write the next
parameter.
Operating Mode Should be set to “Normal”. If “Actuator Test” is selected an Actuator Test
screen will be available to run specific test for qualifying actuators.
Customer This box allows for adding customer specific features to the GUI.
Compatibility For the Whittaker/Rolls Royce application, the corresponding checkbox
should be selected.
Model Selector
Use Model If a Template Model application is loaded to the drive, select this checkbox.
File Name Type the full path and filename or use the “Browse…” button to select the
database file for the Template Model. This is required for communication
with Template Model specific parameters.
When all choices have been made, press the “OK” button. If required, a splash screen
will appear to indicate that the communication is being reinitialized based on the choices
made. This screen will be active for a while. The exact time depends on the speed of
the PC.
LSF-0577 Moog
19
3.4 THE SHORTCUT BAR

The main screen has a toolbar with shortcuts to some of the screens in the GUI.
The shortcuts that are relevant when using a Template Model are the following:
EEPROM SAVE – This screen is used to save any parameter changes to

EEPROM. This is a required step before powering down the drive if any
parameters changes are to be available again after cycling the power to the
drive.
Print Datalogger – Pressing this button will make a hard-copy printout of the
datalogger.
Configuration Upload – This allows for the backup storage of the parameters
in the drive, either base parameters or Template Model parameters, to a file
on the PC.
Configuration Download – This allows for quick setup or recovery of a drive

by downloading a previously stored parameter configuration file.
Drive Configuration – This screen contains base configuration parameters for

the drive and is also where the Template Model is activated or deactivated.
Faults – This screen gives an overview of the possible faults in the drive and
their status.
Reset Fault – This button will reset the faults that were latched but that are
no longer active.
LSF-0577 Moog
20
3.5 EEPROM SAVE

This screen is used to commit parameter changes to non-volatile / permanent
memory.
The “Save Parameters” section allows for individually saving three groups of
parameters: Factory parameters, the base or Non-Model parameters and the
Model Parameters. To save the parameters of one of the groups, select the
group and then press the “Update” button. The “Erase/Save Status” should
change from “0: Save/Erase Inactive” to “…” while the saving is going on and the
end up with the status “2: Save/Erase Done and OK”.
Factory Parameters: The factory parameters are the core parameters that
set up the Sample Period of the controller and the frequency of the bus and
more. These are system parameters that do not influence the application.
Non-Model Parameters: The Non-Model Parameters are the parameters of the

base firmware. They are the controller parameters that are used when a
Template Model is not present. These include tuning parameters and the function
generator parameters etc.
Model Parameters: These are the parameters used in the Template

Model. These are further described in Section 3.10 and beyond.
LSF-0577 Moog
21
3.6 CONFIGURATION UPLOAD

This allows for the backup storage of the parameters in the drive, either base
parameters or Template Model parameters, to a file on the PC.
To upload and save the configuration the first step is to input a file name or
browse for an existing file for the data. The second and final step is to choose
whether the file is to contain the Basic configuration, which is the Non-Model
parameters of the drive or the Model Parameters. When the operator presses
one of the two Upload buttons, the parameters are read from the drive and stored
in the file.
3.7 CONFIGURATION DOWNLOAD

This allows for quick setup or recovery of a drive by downloading a previously
stored parameter configuration file.
To download the configuration to the drive, the first step is to input a file name or
browse for the configuration file. Finally, when the operator must press the
Download button and the parameters are read from the file and communicated to
the drive.
LSF-0577 Moog
22
3.8 ACTIVATING THE MODEL TEMPLATE

If a new Template Model is loaded to the drive it must be activated to run and a
few base parameters must be set. This is done using the “Drive Configuration”
screen. The screen can be selected from the “Drive” menu or by pressing the
drive icon on the toolbar.
3.9 DRIVE CONFIGURATION SCREEN

After making the required changes to the individual parameters, it is necessary to
press the “Update” button to transfer the new parameters to the volatile memory
of the drive. To commit the new parameters to permanent memory, it is
necessary to do a parameters save from the EEPROM SAVE screen.
Drive Setup
Position/Speed Fdbck Source Sets the feedback device for position and/or speed control to
either Stegmann absolute encoder or Resolver. This must fit
the available feedback device of the motor.
Commutation Source Sets the commutation source for the drive. This must fit the
LSF-0577 Moog
23
available device of the motor.
I2T On Time (sec) Sets the minimum time the I2T Current Fold back is active.
Factory Settings
Sample Period (sec) The Sample Period must be set to 250 microseconds when
running a Template Model.
Bus Frequency (MHz) This is automatically set by the hardware variant of the drive
(Can / Sercos / Firewire) and should not be changed.
Current Feedback Source Selects if the XP card or the DSP card is in charge of
sampling the current feedback. This is hardware dependent.
For the Can version of the drive, the correct setting is DSP.
Current Offset Maximum (%) This is the maximum allowed variation for the current offset
calibration. It should be left at 2%.
Drive Co-Efficient This is automatically set by the DSP based on the size of the
power stage.
Model Configuration
Enable Model Activates or deactivates the Template Model.
Erase Model This will erase the Template Model from the drive.
Model Execution Rate Sets the execution rate to a multiple of the sample period of
the drive. Should be left a 1 for optimum performance.
Model Fault Code If any error is detected in the model configuration this
parameter will be Non-Zero.
Model Status
Model Database Detected Indicates if the Model Database is detected. The Template
Model obviously cannot run if its database is not detected.
Model Database Initialized Indicates if the Model Database has been properly initialized.
Model Enabled Indicates if the Template Model has been properly enabled.
Model Running Indicates if the Template Model is active.
Model Faulted Indicates if the Template Model has failed to run.
Model EEPROM Fault Indicates if the permanent EEPROM area dedicated for
saving Template Model parameters is corrupted.
LSF-0577 Moog
24
3.10 TEMPLATE MODEL SCREENS

The Template Model specific parameters are available from the “Model” menu. A
total of 6 screens are used to display and/or modify the parameters.
When changing parameter values or settings for a template model the values do
not take effect until the operator has written the values to the drive and then
forced the model to recalculate using the new settings. Note that for the sake of
safety of the actuator, recalculation of the model is NOT possible while the drive
is in the Enabled state. Hence any change to parameters requires the following
procedure:
1) Make changes to all required parameters on the current screen.

2) Press the “Update (Write Parameters)” button to transfer the new
values/settings to the drive.
3) Disable the drive by removing the Drive Enable Digital Input.
4) Press the “Update (Force Model Recalc)” button to activate the model
recalculation.
5) Re-enable the drive by reapplying the Drive Enable Digital Input.
The only exception to the above rule is that, for convenience, the loop Tuning
parameters, such as the Position loop proportional gain will take effect after
pressing the “Update (Write Parameter)” button without the need for disabling the
drive or pressing the “Update (Force Model Recalc) button”. The loop Tuning
parameters can be found on the Cmnd – Ctrl – Motion – Tuning screen, which is
detailed below.
With the exception of the “Monitor” and “Faults & Warnings” screens, which are
generic, each of the Template Model screens are designed to handle multiple
databases. Hence each screen has a “Select Active Database” field, which
allows the operator to choose between the available parameter databases. When
the Active Database is changed, the current values of all parameters on the
screen are refreshed with the values of the selected database from the drive.
And any subsequent change of parameters will change the values of this
database in the drive. Note that the database actually used by the drive for
control is selected via the front panel hex switches.
In the following screens the parameters of the Template Model will be listed with
some limited explanation. For a more detailed description refer to the section in
the DS2000XP manual that details the Control Template. For each parameter
listed, the screen name will be listed and in parenthesis the Model Parameter
name will be given. The Model Parameter name is the name of the parameter in
the internal Database. For example, one of the parameters is called “Control
LSF-0577 Moog
25
Mode” as the screen name – The corresponding Model Parameter name is

“CONTROL_MODE_INPUT”.
3.10.1 Monitor
This screen is a monitor screen, where the internal status of the Template
Model can be monitored. Its main purpose is to act as a debug tool.
Many of the values of the parameters of this screen are continuously

modified in the drive as a result of calculations, loop closure, actuator
movement etc. Therefore the screen has a “Continuous Refresh” feature
that makes it possible to have the values of the screen continuously
refreshed by setting the required refresh interval in the “Refresh Interval
(sec)” field and checking the “Continuous Refresh” option.
It is possible for the operator to modify the value of some of the

parameters of this screen. Each parameter has a “Write” checkbox to the
right of the current value of the parameter. If this checkbox is selected and
the operator presses the “Update (Write Parameters)” button, the value
will be written to the drive.
Note that a value written to a parameter could be immediately overwritten

by the drive if that parameter is the output of a calculation or the like.
Note that the “Continuous Refresh” feature will skip any parameter marked
for writing to avoid overwriting the value specified by the operator.
LSF-0577 Moog
26
By selecting the “State Mode Refresh” checkbox it is possible to monitor

the “StateFlow State” only. Since this mode only refreshes the “StateFlow
State” it is possible to achieve a higher refresh rate than is possible with
the “Continuous Refresh” option, as this option reads ALL parameters of
the screen.
Note that if the operator sets “Absolute Position Command Source” to

“Discrete” (see section 3.10.2 below), a valve position command can be
input directly on the Monitor screen by typing a 4 to 20 (mA) command
into the “Discrete ‘analog’ command from PC-GUI” parameter on the
Monitor screen.
3.10.2 Cmnd – Ctrl – Motion – Tuning
This screen contains the parameters that relate to the configuration of the
Controller of the Template Model.
LSF-0577 Moog
27
Command Parameters in this section configure the handling of the

command for the closed-loop.
Control Mode Selects whether the closed-loop control is Velocity or

(CONTROL_MODE_INPUT) Position based.
Absolute Position Command Source Selects whether the position command is obtained through
(POS_CMND_ SOURCE_INPUT) analog input 1 or from a discrete input from the GUI. If set for
discrete the position command is entered at the “Discrete
‘analog’ command from PC GUI” on the “Monitor” screen.
Analog Command Type Selects whether the analog command for the position loop
(ANALOG_CMND_ TYPE_INPUT) from analog input 1 is in volts or milliamps.
Maximum Extend command level Sets the value that in closed-loop position mode will
input (app unit) command the actuator to maximum Extend position. The unit
(MAX_EXTEND_ CMND_INPUT) is either volts or ma based on setting of the “Analog
Command Type” parameter.
Maximum Retract command level Sets the value that in closed-loop position mode will
input (app unit) command the actuator to maximum Retract position. The unit
(MAX_RETRACT_ CMND_INPUT) is either volts or ma based on setting of the “Analog
Command Type” parameter.
GUI Velocity Command Sets the closed-loop command value when the “Control
(counts/update) Mode” is set to velocity. The unit is in “counts”, which for a
(VEL_CMND_INPUT) Resolver is 4096 per motor rev and “update”, which for the
Template Model is 250 micro seconds.
Controller
Controller Sample Period (sec) The sample period for the Template model is 250
(SAMPLE_PERIOD_INPUT) microseconds.
Actuator Absolute Position at Synch Absolute position for ‘Synch Request’ position adjustment in
Request (app unit) app units.
(ABSOLUTE_POS_ SYNCH_INPUT)
Controller PWM Compensation Controller PWM crossover gain compensation.

(DEAD_TIME_ LOCKOUT_INPUT)
Position-Time Following Error

Position Error Fault Limit (app unit) Sets the value for the position closed-loop following error. A
(POS_ERROR_FAULT_ Timer (see next parameter) is started if the difference
LIMIT_INPUT) between the commanded position and the actual feedback
position is above this value.
Position Error Fault Time-Out Interval Sets the value for the position closed-loop following error
(sec) timer. This timer is started as described in the previous
(POS_ERROR_FAULT_ parameters. If the timer expires without the Position Error
TIME_INPUT) going below the Limit, the Position Following Error Condition
is activated.
LSF-0577 Moog
28
Position Error Warn Limit (app unit) This is similar to the Error above, but instead of a Fault a
(POS_ERROR_WARN_ Non-Fatal Warning is issued instead
LIMIT_INPUT)
Position Error Warn Time-Out As above. Non-Fatal Warning.

Interval (sec)
(POS_ERROR_
WARN_TIME_INPUT)
Motion Profile
Useable Stroke Input (app unit) Sets the physical useable stroke of the actuator for the
(USEABLE_STROKE_INPUT) application. For linear actuators the input is in inches or
millimeters depending on the application unit. For rotary
actuators the input is in degrees, radians or revolutions. (See
next section for application unit setting.)
Maximum Extend Velocity (app unit) Sets the maximum allowed velocity command for the
(MAX_EXTEND_ Trajectory Generator for Extending the actuator. For Linear
VELOCITY_INPUT) actuators the unit is in mm/sec or inch/sec. For Rotary
actuators the unit is in deg/sec, rad/sec or RPM. (See next
section for application unit setting.)
Maximum Retract Velocity (app unit) Sets the maximum allowed velocity command for the
(MAX_RETRACT_ Trajectory Generator for Retracting the actuator. For Linear
VELOCITY_INPUT) actuators the unit is in mm/sec or inch/sec. For Rotary
actuators the unit is in deg/sec, rad/sec or RPM. (See next
section for application unit setting.)
Normal Acceleration Rate (app unit) Sets the maximum allowed Acceleration and Deceleration
(NORMAL_ACCEL_INPUT) Rate for the Trajectory Generator. For Linear actuators the
unit is in mm/sec2 or inch/sec2. For Rotary actuators the unit
is in deg/sec2 or rad/sec2. (See next section for application
unit setting.)
Quick Stop Acceleration Rate (app Sets the maximum allowed Acceleration and Deceleration
unit) Rate for the Trajectory Generator when the sequence logic
(QUICK_STOP_ ACCEL_INPUT) calls for an emergency Quick Stop. For Linear actuators the
unit is in mm/sec2 or inch/sec2. For Rotary actuators the unit
is in deg/sec2 or rad/sec2. (See next section for application
unit setting.)
Tuning Parameters
Position Loop P-Gain (Hz) Set the Position loop proportional gain.
(Kpp_INPUT)
Velocity Loop P-Gain (Amps/rad/sec) Sets the Velocity loop proportional gain.
(Kpv_INPUT)
Velocity Loop Integral Time Constant Sets the Velocity loop integral time constant.
(sec)
LSF-0577 Moog
29
(Tau_v_INPUT)
Velocity Feed Forward Gain Sets the Velocity loop feed forward gain.
(Kvff_INPUT)
Velocity Integrator Negative Limit Sets the negative current limit for the Velocity loop integrator.
(Amps Peak)
(NEG_VEL_I_LIM_INPUT)
Velocity Integrator Positive Limit Sets the positive current limit for the Velocity loop integrator.
(Amps Peak)
(POS_VEL_I_LIM_INPUT)
Max Force / Torque Limit (app unit) Sets the force (for linear actuators) or torque (for rotary
actuators) output limit, which translates into a current limit on
the drive.
3.10.3 Geometry – Units – I/O
This screen contains the parameters that relate to the Geometry of the
actuator and the selection of the application units the operator wants to
work in.
LSF-0577 Moog
30
Actuator Geometry
Actuator Type Sets if the actuator is a linear or rotary type.
(ACTUATOR_TYPE_INPUT)
Actuator Screw Lead (app unit/rev) Sets how much linear movement one rotation of the screw
(SCREW_LEAD_INPUT) translates into in application units. Unit is mm or inch based
on the setting of “Linear Actuator Stroke Units”
Actuator Gear Ratio (motor Sets how many Motor revolutions equal one screw
revs/output revs) revolution. This value can be set negative if the gearbox
(GEAR_RATIO_INPUT) inverts the rotation of the screw relative to the motor.
Application Units
The explanation on the screen for this section requires no elaboration of the individual parameters. The
operator can select the application units to be used on the input screens for Stroke, Velocity,
Acceleration, Lead, Force and Torque. Obviously, if the actuator is linear, the rotary application units are
Don’t Care and vise versa.
Analog I/O
Analog Calibration (Ai1 & Ao1) Enables calibration of analog input 1 and analog output 1
(ANALOG_CALIBRATE_ using the keypad.
ENABLE_INPUT)
Analog Output 2 Signal Source Selects what is output onto Analog Output 2: The current
(AO2_SOURCE_INPUT) demand, the actual velocity or the position error
Analog Output 2 Scale (DAC Sets the scale or gain for analog output 2.
counts/input count)
(AO2_SCALE_INPUT)
Analog Output 2 Offset (input counts) Sets the offset for analog output 2.
(AO2_OFFSET_INPUT)
Digital I/O
Digital Input Invert Selects how a voltage on the digital input is interpreted into a
(DIGITAL INPUT_ INVERT_INPUT) logical signal in the Template Model. If set to No Invert, a
24Vdc input will be interpreted as a logical True signal. If set
to Invert, a 24Vdc input will be interpreted as a logical False
signal.
Digital Output Invert Selects how a logical signal from the Template Model is
(DIGITAL OUTPUT_ interpreted onto the digital outputs. If set to No Invert, a
INVERT_INPUT) logical True signal will turn the digital output On. If set to
Invert, a logical False signal will turn the digital output On.
Relay Output Invert Selects how a logical signal from the Template Model is
(RELAY_INVERT_INPUT) interpreted onto the Normally Open and Normally Closed
relay outputs. If set to No Invert, a logical True signal will
close the Normally Open relay and open the Normally
LSF-0577 Moog
31
Closed relay. If set to Invert, a logical False signal will close

the Normally Open relay and open the Normally Closed
relay.
3.10.4 Homing – I-T Fold back – Thermal
This screen configures the Homing sequence for the actuator and sets up
the various available drive protection schemes.
Homing Homing is the sequence of determining the zero position of

an actuator, which is required for actuators that do not have
an absolute position feedback.
Home Direction Selects if the actuator homes towards retract or extend

(HOME_DIRECTION_INPUT) position.
Home Method Selects the Homing method. The following Homing methods
(HOME_METHOD_INPUT) are available:
Home In Place: For mechanically biased (ex. spring loaded)
actuators, this method will home the actuator at the position
it is at when homing starts i.e. where the mechanical bias
positions the actuator.
Home To Stop: For most linear actuators, this method will
stroke the actuator until it reaches a hard stop.
LSF-0577 Moog
32
Absolute Home: For actuators with absolute position

feedback devices.
Home Velocity (app unit) Sets the velocity used when moving the actuator during the
(HOME_VELOCITY_INPUT homing sequence.
Home Force OR Torque Limit (app Set the maximum allowed Force or Torque during the
unit) homing sequence.
Home Offset (app unit) Allows the addition of an Offset to the Home Position found
(HOME_OFFSET_INPUT) during the homing sequence. This value can be positive or
negative.
Home Bias Torque (signed app unit; Allows the addition of a bias to the Home Force or Torque
+=extend, -=retract) when using the “Home In Place” method. The bias is used to
(HOME_BIAS_INPUT) take out any backlash in the actuator.
Home Force/Torque Bias Time (sec.) Sets how long the above Bias Force/Torque is applied.
(HOME_BIAS_TIME_INPUT)
Home Limit Switch as additional Selects if Digital Input 5 must be present as an additional
ANDed Home Condition condition to indicate that the correct home position has been
(HOME_LS_ENABLE_INPUT) reached.
Home Persist on Control Disable When set to “Disabled”, the Template Model will re-home the
(HOME_PERSIST_INPUT) actuator every time the drive is disabled and then re-
enabled. When set to “Enabled”, the Template Model will
only home the actuator after a power cycling and subsequent
enabling of the drive.
Home Time-out (sec) Sets the maximum time allowed for the homing sequence to
(HOME_TIME_OUT_INPUT) complete.
Pre-Home Stroke (app unit) Sets the minimum stroke the actuator must travel before
(PRE_HOME_STROKE_INPUT) reaching the homing position. Typical verification stroke for
mechanically biased systems.
Post Home Stroke Verification Selects if the actuator verifies that it can travel the specified
(POST_HOME_STROKE_ useable stroke after the home position has been determined.
ENABLE_INPUT)
Post Home Stroke Additional Stroke If specified this value gets added on to the useable stroke for
Added to Useable Stroke the Post Home Stroke verification.
(POST_HOME_STROKE_
DELTA_INPUT)
I-T Foldback
Fold Back Enable If set to “Enable” the drive will limit the current to the Fold
(IT_FOLDBACK_ ENABLE_INPUT) back limit when the fold back limit is exceeded for a specified
time. If set to “Disable” the drive will give a non-fatal warning
when the fold back limit is exceeded but the current will not
be limited.
Fold Back Force / Torque Limit Sets the Force or Torque limit that must be exceed for Fold
LSF-0577 Moog
33
(FOLDBACK_FORCE_ back to be activated.

TORQUE_INPUT)
Fold Back I-T Timeout (sec) Sets the period that the Force or Torque must be above the
(FOLDBACK_I_T_ TIME_INPUT) limit before Fold back is activated.
Fold Back Min Time Duration (sec) If Fold back is activated it will be active for minimum this
(FOLDBACK_MIN_ TIME_INPUT) specified time before normal limits of operation are
reinstated.
Thermal Management
PTC / NTC Selection Selects the thermal sensor type of the motor.
(NTC_PTC_SELECT_INPUT)
Current Fold Back on Motor Thermal Selects if Current should Fold Back in case a Thermal
Warning warning is detected. If set to “Disabled” a non-fatal warning
(MOTOR_THERMAL_ will still be active, but no Current Fold Back will occur.
FOLDBACK_ENABLE_INPUT)
Motor Thermal Warning Threshold Sets the limit for the non-fatal Thermal warning and possible
(ohms) Current Fold Back.
(MOTOR_THERMAL_
WARN_THRESHOLD_INPUT)
Fatal Fault on Motor Thermal Device Selects if a Fatal fault should be generated in case the Fatal
(MOTOR_THERMAL_ Thermal Fault Threshold is exceeded.
FAULT_ENABLE_INPUT)
Motor Thermal Fatal Fault Threshold Sets the limit for the Fatal Thermal Fault.
(ohms)
Current Fold Back on IGBT Selects if Current should Fold Back in case a Thermal
Temperature Warning Threshold Warning is detected in the IGBT circuit. If set to “Disabled” a
non-fatal warning will still be active, but no Current Fold Back
will occur.
IGBT Temperature Warning Sets the limit for the IGBT Temperature Warning.
Threshold (deg C)
LSF-0577 Moog
34
3.10.5 Motor Parameters
This screen contains the parameters that define the physical

characteristics of the motor.
Parameters
Number of Motor Poles The number of magnetic poles in the motor.
(MOTOR_POLES_INPUT)
Motor Peak Current (A) The maximum current the drive is allowed to deliver to the
(MOTOR_PEAK_ motor.
CURRENT_INPUT)
Motor Max Voltage (Vdc) The Motor winding voltage, either 110, 230 or 400
(MOTOR_MAX_ VOLTAGE_INPUT)
Motor Max Speed (RPM) The maximum speed the drive is allowed to run the motor at.
(MOTOR_MAX_SPEED)
Motor Back EMF (Vrms/KRPM) The motor Back EMF constant in Volts RMS at 1000 RPM.
(MOTOR_BACK_EMF_INPUT)
Motor Resistance Rw (Ohm) The motor phase-to-phase resistance.

(MOTOR_RW_INPUT)
Motor Inductance Lw (mH) The motor phase-to-phase inductance.
LSF-0577 Moog
35
(MOTOR_LW_INPUT)
Motor Feedback Phase Offset The position phasing correction between motor feedback
(MOTOR_PHASE_ position & motor phase magnetic position.
OFFSET_INPUT)
Number of Resolver Poles The number of motor resolver poles (if used)
(MOTOR_RESOLVER_
POLES_INPUT)
Motor torque constant input (Nm/amp The motor torque constant Kt.
rms)
(MOTOR_TRQ_ CONST_INPUT)
Motor Feedback Transducer Type Selects the feedback type between Resolver or Stegmann
(MOTOR_FEEDBACK_ absolute encoder
TYPE_INPUT)
Motor Position Feedback Invert Selects if the feedback polarity is to be inverted or not.
(MOTOR_FEEDBACK_
INVERT_INPUT)
Motor Feedback Resolution The resolution of the feedback device. Typically 4096 (12 bit)
(Counts/Rev) for resolver and 16777216 (24 bit) for Stegmann Encoder
(MOTOR_RESOL_INPUT)
Extra DSP Parameter Placeholder Spare parameters, not currently used.
LSF-0577 Moog
36
3.10.6 Faults & Warnings
This screen gives an overview of the Template Model related faults and
warnings.
Parameters
IGBT thermal warning flag Indicates if the IGBT temperature went above the threshold.
(IGBT_THERMAL_ WARN_FLAG) This warning is latched at activation time and will not
automatically reset.
Motor thermal warning flag Indicates if the Motor Temperature went above the threshold.
(MOTOR_THERMAL_ This warning is latched at activation time and will not
WARN_FLAG) automatically reset.
I2T warning flag Indicates if the current went above the I-2 Fold Back limit for
(IT_DETECT_WARN_FLAG) longer than the Time-Out period. This warning is latched at
activation time and will not automatically reset.
DSP fault active monitor Indicates if a fault condition is active on the DSP card. Refer
(DSP_FLT_ACTIVE) to the general fault screen from the main screen to see
active DSP faults.
Latched fault flag from interface Not Used.

monitor
(LATCHED_FLT_ACTIVE)
Latched fault flag monitor Indicated if a fault condition was latched on the DSP. Refer
(LATCHED_FLT_FLAG) to the general fault screen from the main screen to see
latched DSP faults.
Pre-Home stroke fault Indicates if the homing sequence failed because the Pre-
(PRE_HOME_FLT_FLAG) Home stroke could not be obtained.
LSF-0577 Moog
37
Post-Home stroke fault Indicates if the homing sequence failed because the Post-
(POST_HOME_FLT_FLAG) Home stroke could not be obtained.
Home limit switch fault Indicates if the homing sequence failed because the Home
(HOME_LS_FLT_FLAG) Limit Switch was not active.
Home time-out fault flag Indicates if the homing sequence failed because the homing
(HOME_TIME_FLT_FLAG) was not complete within the appropriate time.
Current Fold back flag Indicates if Current Fold back is active.

(FOLDBACK_FLAG)
Position Error Warning Flag Indicates if the Position Error is above the warning limit.
(POS_ERR_WARN_FLAG)
Position following error flag monitor Indicates if the Position Error is above the fault limit.
(POS_ERR_FLT_FLAG)
Analog Calibration fault Indicates if the analog calibration failed due to values being
(CALIBRATE_FLT_FLAG) outside the acceptable limits.
LSF-0577 Moog
38
3.11 USING THE DATALOGGER

The datalogger can sample 4 channels of data. Any parameter in the drive can
be selected for a channel. The datalogger can sample at the rate of the drive
code. For the Template Model the sampling rate is 250 microseconds.
The sampled data is displayed graphically and can be subsequently printed to

paper or saved to either a text file for offline data analysis or to a bitmap file for
insertion into a document. To print the datalogger screen press the print icon. To
save the data to a text file, select “File” and “Save Datalogger data to text file”. To
save the data as a bitmap file, select “File” and “Save Datalogger screen to
Bitmap file”.
The displayed data can be manually scaled using the “Scaling” and “Offset”
fields. Or select the “Auto Scale (All Channels!)” option to have the data
automatically scaled to fit the screen.
Use the “Source” dropdown list to select which parameter to sample. Then select
“Visible or “Hidden” to have the channel included in the sampling. If “Off” is
selected, the channel will not be sampled.
2 Cursors are available to read data of the graph. The cursors can be either
vertical or horizontal. The cursors will be show a red lines on the graph and can be
dragged by the mouse. Or a value can be input directly into the “Time (sec)” field.
When a cursor is placed on the graph, the corresponding values for each
channel will be shown in the Cursor window. The values sampled in the graph
are the raw data from the drive. If required, it is possible to have the cursor
values scaled by pressing the “View Scaling” button and typing in an Offset and
Gain value in the Cursor 1 and Cursor 2 fields respectively. The default values
are 0 and 1. Press “View Data” to switch back to the data display.
LSF-0577 Moog
39
The triggering of a data sampling can be done either as an operator initiated

Manual operation or automatically based on a drive parameter.
For an operator initiated sampling, select the “Manual Trigger” option. This will
disable the input of parameters to the rest of the trigger fields, as these are set
automatically.
For an automatically triggered setup, select the drive parameter from the
“Source” dropdown list and set the trigger level, coupling and slope to the
appropriate settings. The “Delay (sec.)” parameter allows for a delayed trigger
which allows the operator to see the data just before the trigger event happened.
The final step is to select the duration of the sampling and the number of data
points to gather
The duration of the sampling is determined by the “Time per div (ms)” parameter.
This is the time per division of the graph. The graph has 10 divisions always, so
the Time per division value can be determined by taking the time the operator
wants to sample, in milliseconds, dividing it by 10 and then entering the value
into the “Time per div (ms)” field. For example, if a 5 second sample were
required, the operator would put in 5000 / 10 = 500 into the “Time per div (ms)”
field.
The “Number Samples” is the number of samples per channel that is wanted.
The drive has a limited buffer available for sampling, so if the operator should set
this value too high, the GUI will automatically limit the “Number Samples” value
to the maximum available number of samples.
The final step is to arm the trigger. Pressing the “Arm Trigger” button does this.
If the “Manual Trigger” option was selected above, the caption of the button will
change are pressing it once to “Manual Trigger” and the color will turn green.
This indicates that the drive is ready for the operator to press the button and start
the sampling.
LSF-0577 Moog
40
If automatic trigger was set up, the “Arm Trigger” button will be grayed out until
the sampling has finished.
The status of the datalogger can be read from the “Status” field in the trigger
frame. The status will go through the following states, some might change faster
in the drive than the GUI can display: “INITIALIZING” (data logger and trigger is
being set up), “WAITING” (datalogger is waiting for trigger event), “SAMPLING”
(datalogger is sampling), “DATA READY” (sampling is complete and ready for
upload to the GUI).
When the GUI detects the “DATA READY” state, it will upload the new sampled
data and display it in the graph.
LSF-0577 Moog
41
3.12 FAULTS
This screen gives an overview of all the faults of the DSP and the MCC card. Any
active faults will be highlighted in Red color. All Non-active faults are shown in
Green color.
Pressing the “Refresh Status” button will refresh the status of the faults. Pressing
the “Reset Faults & Refresh” button will reset latched errors and will refresh the
status of the faults.
NOTE: Application specific Template Model faults are not show here, but on a
separate screen as detailed in section 3.10.6.
LSF-0577 Moog
42
MCC Faults The MCC Faults are fault that occurs on the MCC (Motion
Control Card).
Dynamic Pos. Following Error The Dynamic Position Error window of the position loop was
exceeded. Check the window value on the Combined Tuning
screen. Verify Position loop performance. Note this fault is
only monitored when a Template Model is NOT running, so-
called Non-Model Control.
Static Pos. Following Error The Static Position Error window of the position loop was
exceeded. Check the window value on the Combined Tuning
screen. Verify Position loop performance. Note this fault is
only monitored when a Template Model is NOT running, so-
called Non-Model Control.
Fieldbus Comms Error A communication error was detected on the Can bus /
Firewire / Sercos fieldbus. Verify host, cables and
connections.
Command Buffer Full The drive is receiving more commands on the Fieldbus than
can be processed causing a Buffer overrun. Verify Host
Fieldbus setup for command generation.
Command Buffer Empty The Reference Source of the Drive is configured for Bus but
no command is received on the Fieldbus. The Reference
Source is configured on the Combined Tuning screen. Verify
Fieldbus connections.
Interpolation Fault Not Used.
Parameters Invalid Certain Configuration parameters are out of range. Check

Combined Tuning and Drive Configuration screen and
correct values.
PLL Timeout Phase Lock Loop cannot lock into fieldbus time
synchronization.
Model Error The model is corrupted
Unknown Encoder The encoder connected to the DS2000XP was not

recognized as a supported type.
Encoder Checksum Error The EEPROM onboard the Encoder has an invalid
checksum.
Encoder Sum of Squares An error was detected on the analog sine/cosine line of the
encoder.
Encoder Serial Timeout A Timeout was detected on the RS485 serial line of the
encoder.
Encoder Calibration Fault The calibration of the sine / cosine offsets failed. Run motor
at very low speed (1-5 RPM) and rerun calibration.
LSF-0577 Moog
43
Invalid Drive Size The stored value of the Drive Size and the actual size of the
Power Stage are different. Perform a Save Parameters on
the front panel of the DS2000XP.
Factory Config Invalid The Factory Parameters are not configured properly. Verify
Drive Configuration screen setup and perform a save of the
Factory parameters on the EEPROM save screen.
Model Overrun Error The model could not execute in the allotted time. Verify
Sample Period setting on the Drive Configuration screen. A
typical correct value would be 0.00025 or higher.
I2T Fault The I2T time expired. Verify Over current timeout on the
Drive Configuration screen is properly set for the application.
Verify motor/actuator is not jammed.
Regen Exceed Fault Continuous regen power has been exceeded. Review
settings. Review acceleration rate of demand and/or current
limits.
Regen Configuration Fault The selected Regen resistor value is wrong for the drive size
and supply voltage. Check Regen Resistor Configuration
screen values.
Incomp. Board & Firmware The hardware version (Can bus / Firewire / Sercos) of the
MCC board and the installed firmware are incompatible.
Load appropriate firmware.
Encoder Position Changed Hiperface encoder position has been modified. Auto phasing
should be repeated.
Velocity Error Fault Velocity error has exceeded the programmed window and
time. Check the velocity loop tuning. Note this fault is only
monitored when a Template Model is NOT running, so-called
Non-Model Control.
Phase U Overcurrent Over current detect on Phase U.
Phase V Overcurrent Over current detect on Phase U.
Software Error An internal software error has occurred, see Software Errors
below.
Model Parameters Invalid Model parameters are invalid or corrupted. Go through the
Model Parameter screen and correct values. Perform a Save
Parameters / Model on the EEPROM Save screen and cycle
power. If the problem persists the EEPROM might be
damaged.
Software Watchdog Timeout The internal Software Watchdog expired. Verify Sample
Period on the Drive Configuration Screen.
LSF-0577 Moog
44
MCC Latched Faults The MCC Latched Faults are simply the latched version of
the above MCC Fault and will not be detail further here.
DSP Faults
Bus Overvoltage The detected voltage on the DC Bus is too high. This can be
due to a recovery resistor failure or a too high recovery
resistor value for the application and the resistor therefore
cannot dissipate the energy recovered by the motor and
drive.
Bus Undervoltage The detected voltage on the DC bus is too low. This can be
due to a power line interruption or to an excessive current
absorption by the drive with respect to the recovery resistor.
Rate of Chan. Bus Voltage The detected voltage on the DC bus fluctuates too much.
Verify fuses on the three phase input line.
Incompatible Bus & Motor The Motor Voltage parameter (rated bus voltage of the
motor) value and the power stage max bus voltage are
incompatible.
No Bus The detected DC Bus is below 70 Volt.
Bus Read The drive cannot read the DC bus properly. Cycle power. If
fault persists the drive is damaged.
Heatsink Temperature The internal temperature in the drive is too high. If the drive
is improperly sized for the application the drive must absorb
too much current during the cycle. Verify that cooling fans
are operating properly.
U Phase High Side IGBT Excess current or short circuit detected on U phase High
side leg of IGBT.
V Phase High Side IGBT Excess current or short circuit detected on V phase High
side leg of IGBT.
W Phase High Side IGBT Excess current or short circuit detected on W phase High
side leg of IGBT.
U Phase Low Side IGBT Excess current or short circuit detected on U phase Low side
leg of IGBT.
V Phase Low Side IGBT Excess current or short circuit detected on V phase Low side
leg of IGBT.
W Phase Low Side IGBT Excess current or short circuit detected on w phase Low side
leg of IGBT.
Flash Read The EEPROM cannot be read during power up. Cycle
Power. If problem persists, do a Save Parameters on the
front panel of the DS2000XP. If problem persist the
LSF-0577 Moog
45
EEPROM is damaged.
Feedback Resolution The configured Feedback Resolution is invalid. Check

Hiperface Parameters screen and verify Encoder Feedback
Resolution value.
+15V Rail Error The internal +15Vdc is out of tolerance.
-15V Rail Error The internal -15Vdc is out of tolerance.
Power Size Mismatch The stored value of the Drive Size and the actual size of the
Power Stage are different. Perform a Save Parameters on
the front panel of the DS2000XP.
Motor Temperature Fault The Motor NTC/PTC over temperature threshold was
exceeded.
Motor Overspeed The Max. Motor Speed value was exceeded by more than 10
percent. Check that the speed loop is properly calibrated and
that the motor braking torque is sufficient with respect to the
connected load.
Flash Checksum Error The EEPROM of the DSP card has a checksum error.
Cycle power. If problem persists perform a Save Parameters
from the front panel of the DS2000XP. If problem still
persists the EEPROM is damaged.
Resolver Fault An error was detected on the resolver. Check signal wires for
proper connections.
DS2000XP Card Fault This fault is set when any DSP or MCC fault is active. It will
automatically clear when no errors are present.
Hardware Faults
RS232 Communication The RS232 hardware circuit failed to respond.
External Ram Error The ram test has failed.
Dual Port Ram Error The Dual Port Ram interface between the DSP and the MCC
is not responding.
Fieldbus Device Error The Fieldbus interface (Can bus / Firewire / Sercos) is not
responding.
DSP Ready The DSP did not signal Ready to the MCC card.
EEPROM Device Error The EEPROM device is not responding to save or load
requests.
LSF-0577 Moog
46
No DSP Interrupt The MCC did not receive an interrupt from the DSP.
Invalid Sercos Interrupt An invalid, out of sync, Sercos interrupt was detected.
Generic Hardware Error A generic unsupported hardware error occurred.
Warnings
Continuous Regen The Regen circuit is continuously active.
COM1 Overrun The COM1 buffer was overrun and potentially

communication data was lost.




RS232 Timeout The RS232 port failed to respond within the Timeout period.
Encoder Error Active The Encoder has returned an error code.
Software Faults
Foreground Shutdown No interrupt running.
Parameter out of range Mismatch between size of database and serial search
structure.
Element out of range Maximum number of data elements exceeded.
Value out of range Invalid value for parameter or command.
Value too small Parameter value exceeds minimum value.
Value too large Parameter value exceeds maximum value.
Invalid size Incompatible data size.
LSF-0577 Moog
47
Invalid type Invalid data type being accessed.
Insufficient access Password level too low for read or write.
Insufficient read access Password level too low for read.
Insufficient write access Password level too low for write.
Mapping error Invalid value for datalogger coupling type.
Verify error Error verifying EEPROM data.
End-of-file error
Subindex out of range CANopen sub index out of range.
Idn out of range CANopen/Sercos/Firewire IDN out of range.
Invalid control mode Control loop configuration not supported.
Invalid control mode Control loop reference source not supported.
Async queue full Firewire Asynchronous Message buffer full.
Invalid procedure command Invalid Firewire procedure command.
Error initializing GP2Lynx Hardware error initializing GP2Lynx device.
Error initializing API Firewire API failed.
Parameter not found error Parameter not available.
DM FIFO full Firewire isochronous transmit buffer is full.
Invalid 1394 cmd in foregrnd Invalid Firewire command detected in foreground.
Invalid 1394 cmd in bckgrnd Invalid Firewire command detected in background.
Invalid 1394 Invalid Firewire parameter type.
Invalid eeprom storage type Invalid EEPROM logical block type.
Invalid floating point format Number is not floating point format.
Invalid eeprom number Invalid eeprom block.
Screw lead is zero Screw lead is zero.
Software Error Code Returned error code. See ERROR.TXT file for definition.
LSF-0577 Moog

Moog DS2000XP GUI Manual PDF

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Moog DS2000XP GUI Manual PDF

Uploaded by

Copyright:

Available Formats

CAUTION

USE OF THE DS2000XP GRAPHICAL

Document No.: LSF-0577

MOOG INDUSTRIAL CONTROLS DIVISION

UNDER NO CIRCUMSTANCES SHOULD AN OPERATOR ATTEMPT TO

SHOULD THERE BE ANY QUESTIONS REGARDING THE

MOOG INDUSTRIAL CONTROLS DIVISION

Moog shall not be responsible for any consequential or incidental damages

THE WARRANTIES CONTAINED HEREIN ARE EXCLUSIVE AND ARE GIVEN IN

THIS PAGE INTENTIONALLY

1.0 DOCUMENT OVERVIEW ............................................................................................7

THIS PAGE INTENTIONALLY

1.0 DOCUMENT OVERVIEW

Click “Next” to continue…

Click “Next” to continue…

Click “Next” to continue…

Click “Install” to continue…

The installation will begin:

Click “OK” to continue…

The component Windows Script 5.6 is required for proper operation:

Click “Yes” to install Windows Script 5.6…

This component requires the installer to agree to its End-User License:

Click “Yes” to agree to the End-User license agreement…

Click “OK” to continue…

The Graphical User Interface can be activated by double-clicking the DS2000XP

3.2 ACTIVATING THE GUI

3.3 FIRST TIME COMMNICATIONS CONFIGURATION

The following choices are available:

3.4 THE SHORTCUT BAR

EEPROM SAVE – This screen is used to save any parameter changes to

Configuration Download – This allows for quick setup or recovery of a drive

Drive Configuration – This screen contains base configuration parameters for

3.5 EEPROM SAVE

Non-Model Parameters: The Non-Model Parameters are the parameters of the

Model Parameters: These are the parameters used in the Template

3.6 CONFIGURATION UPLOAD

3.7 CONFIGURATION DOWNLOAD

3.8 ACTIVATING THE MODEL TEMPLATE

3.9 DRIVE CONFIGURATION SCREEN

available device of the motor.

Model Running Indicates if the Template Model is active.

Model Faulted Indicates if the Template Model has failed to run.

3.10 TEMPLATE MODEL SCREENS

1) Make changes to all required parameters on the current screen.

Mode” as the screen name – The corresponding Model Parameter name is

Many of the values of the parameters of this screen are continuously

It is possible for the operator to modify the value of some of the

Note that a value written to a parameter could be immediately overwritten

By selecting the “State Mode Refresh” checkbox it is possible to monitor

Note that if the operator sets “Absolute Position Command Source” to

3.10.2 Cmnd – Ctrl – Motion – Tuning

Command Parameters in this section configure the handling of the

Control Mode Selects whether the closed-loop control is Velocity or

Controller PWM Compensation Controller PWM crossover gain compensation.

Position-Time Following Error

Position Error Warn Time-Out As above. Non-Fatal Warning.

3.10.3 Geometry – Units – I/O

Closed relay. If set to Invert, a logical False signal will close

3.10.4 Homing – I-T Fold back – Thermal

Homing Homing is the sequence of determining the zero position of

Home Direction Selects if the actuator homes towards retract or extend

Absolute Home: For actuators with absolute position