MSD Servo Drive TWINsync Module
Contents
1. MOOC MSD Servo Drive Description of remark TWINsync module MOOG Description of remark TWINsync module Interface X8 ID no CB08759 001 Rev 1 0 Date 10 2010 Applicable as from firmware version V2 15 V201 07 MSD Description of remark TWINsync module NOTE This document does not replace the MSD Servo Drive Operation Manual Please be sure to observe the information contained in the For your safety Intended use and Responsibility sections of the Operation Manual ID no CA65642 001 For information on installation setup and commissioning and details of the warranted technical characteristics of the MSD Servo Drive series refer to the additional documentation Operation Manual User Manual etc w Technical alterations reserved The contents of our documentation have been compiled with greatest care and in com pliance with our present status of information Nevertheless we would like to point out that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the lat est version please refer to drives support moog com 5 3 SPWINDBOSTROGOSS ie Pp e a Rt etd peat iet oed Du PUE 14 Table of contents 5 3 1 TWINpos Master Moderan n e EEE 14 5 3 2 TWINpos Slave modesina ea ERa eene eene 14 1 TWINsync technology option cccceccceeeeececeeeee2. MSD Description of remark TWINsync module 15 TWINsync module MOOG 6 Monitoring functions The data transfer of the master slave link is continuously monitored Errors can occur ei ther when a parameter is incorrectly set or if there is a disturbance on the transfer chan nel Errors are only reported when the MSD Servo Drive is in closed loop control mode display shows state 5 The master slave link has the primary error group error number Error messages 46 A list of possible errors is set out in table 6 1 Error ID Error cause Remedy 46 00 Faulty data transfer This can occur when Check connector there has been disturbance on the channel Check cable for a time longer than that configurable via P 02613 The error is also reported if the Check MSD Servo Drive slave has lost the synchronization 46 01 Master and slave have different switching Correct parameter setting frequency parameter settings 46 02 Both axes are parameterized either as Correct parameter setting master or as slave Table 6 1 Error messages in master slave operation MSD Description of remark TWINsync module TAKE A CLOSER LOOK Moog solutions are only a click away Visit our worldwide Web site for more information and the Moog facility nearest you MOOG Moog GmbH Hanns Klemm StraBe 28 D 71034 B blingen Telefon 49 7031 622 0 Telefax 49 7031 622 100 www moog com industrial drives support moog com Moo
3. TWINsync slave Parameter P 2614 is use to specify the Master Slave mode ID Selection Value Description text P 2614 OFF 0 Selecting OFF disables the TWINsync interface In the OFF state no process data are sent and no SYNC OUT signal is generated SLAVE 1 Selecting SLAVE switches the MSD Servo Drive to TWINsync Slave mode The slave drive synchronizes its control cycle to the incoming SYNC IN signals If the SYNC IN signal is not received for a param eterizable time a communication error is reported see section 3120 MASTER 2 Selecting MASTER switches the MSD Servo Drive to TWINsync Master mode SYNC OUT signals are generated for the slave Table 3 2 P 2614 setting options ATTENTION For synchronization it is essential that both drives are configured to the same switching frequency as it is used for synchronization Conse quently parameter P 0302 must be set to the same value for both axes MOOG 3 1 2 Communication timeout monitoring A disturbance on the communication interface is detected as follows The MSD Servo Drive receives invalid data CRC monitoring The synchronization signal of the TWINsync master drops out If one of these errors occurs the transfer channel is assumed to be disturbed Parameter P 2613 defines the time interval in ms over which the channel may be classed as dis turbed without an error being reported In the event of a disturbance the last correctly received data
4. are frozen The error messages are documented in section 6 3 1 3 Structure of the TWINsync data telegram The TWINsync data telegram is structured as shown in table 3 3 It comprises 3x2 bytes of fixed data 16 bits CRC 16 bits TWINsync status word and one control status word to change the slave device state and 6 bytes of freely configurable data Checksum TWINsync Control PDO1 PDO2 PDO3 fixed Status word Status word configur configur configur DRIVECOM able able EO fixed 2 bytes 2 bytes 2 bytes 6 bytes fixed Table 3 3 TWINsync data telegram MSD Description of remark TWINsync module 7 TWINsync module MOOG The checksum is formed in each case across the entire telegram The assignment of the TWINsync status word is shown in table 3 4 Function Description 0 ProcessDataMode 0 initialization mode 1 cyclic mode 1 3 SwitchingFrequency 000 2 kHz 001 4 kHz 010 6 kHz 011 8 kHz 100 12 kHz 101 16 kHz 4 6 TWINMode 0 TWINsync off 1 2 TWINsync slave 2 TWINsync master 7 SlavelnSync 0 slave is synchronized 1 slave is not synchronized 8 13 not_used Reserved 14 SystemError Drive in error state 15 TechOptError Communication error occurred Table 3 4 Assignment of the TWiNsync status word parameter P 2617 3 1 4 Configuration of the process data The process data to be sent and received by the drive can be configured by parameters For manual configu
5. master and slave sides is the same as in TWINspeed Mode 1 see table 5 1 5 3 TWINpos mode This mode is useful for position synchronization between a master and slave drive An electronic gear unit can additional be used on the slave axis Figure 5 3 shows the proc ess data interface between the master and slave drives in TWINpos mode Fixed mapping Control word P2611 _ Communication status P2617 Checksum a Status word P2612 4 Communication status P2617 a Checksum MSD MSD Servo Drive Servo Drive Master Mapping by mode TWINPOS Slave Actual position P412 Actual speed P2599 4 Error number P2650 0 4 Error location P2650 1 Figure 5 3 TWINpos process data interface 5 3 1 TWINpos Master mode This mode is selected by setting P 2580 TWINPOS Master In this mode the master transmits its actual position P 0412 and speed P 2599 values The received data are interpreted as the current error number P 2650 0 and error location P 2650 1 of the slave drive MSD Description of remark TWINsync module 14 5 3 2 TWINpos Slave mode In this mode the actual position value of the master drive P 2608 is used for positioning reference generation and the current actual speed value P 2606 for external speed pre control generation Figure 5 4 shows the logical sequencing
6. three most frequently used variables torque speed and posi tion via the TWINsync interface simultaneously appropriate conversion of torque and speed variables from the internally used 4 byte floating point format into a scaled 2 byte integer format is implemented The reference variables for scaling of the local torque and speed values sent data are preset via parameter P 2602 The reference variables for de scaling of the remote torque and speed values received from the external drive are preset via parameter P 2609 see table 3 6 The first field entry sub ID 0 of P 2602 P 2609 contains the value of the reference torque in Nm The second field entry sub ID 1 contains the value of the reference speed in rpm The scaling maps the value range between the negative and positive reference values to the number range 32768 to 32767 The position data are transferred in the format specified by the unit parameter setting of the device Factor Group as 32 bit integer NOTE Generally the reference variables P 2602 P 2609 and the factor group settings should be identical in the master and slave drives Description P 2602 MPRO_TWIN_LocalScaling 0 MPRO TWIN LocalScalingTorque Nm Local drive reference Float32 torque 1 MPRO TWIN LocalScalingSpeed rpm Local drive reference Float32 speed P 2609 MPRO_TWIN_RemoteScaling 0 MPRO_TWIN_RemoteScalingTorque Nm External drive reference Float32 torque 1 MPRO_TWIN_RemoteSca
7. 13 MOOG MSD Description of remark TWINsync module 5 TWINsync module MOOG 1 TWINsync technology option This document describes the TWINsync technology option for the MSD Servo Drive The TWINsync technology option is based on an optional communication interface available for the MSD Servo Drive for option slot 2 via which two MSD Servo Drive devices can be interconnected at a time Consequently use of the TWINsync option is intended for ap plications in which for example synchronism of two drives is specified or in which one drive is to use I O or encoder interfaces of another drive Using the TWINsync option any process data can be exchanged between two drives The data are exchanged bidirectionally with the cycle time of the speed control The TWINsync communication interface incorporates a synchronization mechanism The MSD Servo Drive configured as the TWINsync master generates a cyclic signal pulse synchronized to its own control cycle on the SYNC OUT line of the interface The MSD Servo Drive configured as the TWINsync slave receives the synchronization signal on its SYNC IN line and synchronizes its own control cycle to the TWINsync master SERCOS II field bus options are currently not supported in TWINsync slave ATTENTION Because of the synchronization mechanism the EtherCAT and 7N mode as they have their own synchronization mechanisms Configuration parameters can be set to define the process data to be exchanged via t
8. N RemoteActSpeed Scaled Scaled actual speed Int16 remote P 2607 0 MPRO TWIN RemoteRefPos POS Position reference Int32 remote P 2608 0 MPRO TWIN RemoteActPos POS Actual position remote Int32 Table 3 8 Parameters frequently used to receive process data The scaled parameters for speed and torque provided on the send end also exist on the receive end The torque and speed information required for de scaling is entered in parameter P 2609 As a result the received 16 bit integer is converted back to the local units system 3 1 6 Boot up delay The synchronization between the master and slave axes takes a certain amount of time after booting up If one or both of the controllers in the TWINsync pairing is set to control mode without a delay after connection of the power it may be that a commu nication error is reported because no synchronization has yet taken place This can be prevented by using parameter P 2618 see table 3 1 to extend the boot up initialization phase of the MSD Servo Drive by a programmable time so that the synchronization is completed during initialization 3 2 Parameterization of the TWINsync master axis The master axis receives reference setpoint values according to the parameterized reference source e g from a field bus Apart from configuration of the send data the master axis requires no further special parameter setting Slave process data can also be received however MSD Description of remark TWINsyn
9. P270 Slave internal resolution incr rev P2652 Master internal resolution incr rev 1 P2657 MPRO TWIN StrechFactor Master actual position k 1 incr P2583 A SlaveModuloValue Position setpoint P2608 incr Userunits Master actual position k A Position A Position corr Y incr incr incr L Wy POS2 x gt gt x gt X x USER Eq P2653 MPRO_TWIN_ ElecGearNum Analog input xx i P2654 1 1 MPRO_TWIN_ ElecGearDen P2583 P2655 Slave inversion Correction factor 4A 1 Correction factor Nref FF P2606 x Master actual speed B Y Speed pre control value U min i na gt x H talx gt x Userunits p A 1 P2657 MPRO_TWIN_StrechFactor Slave internal resolution Userunits rev IpRefTS ms Correction factor Nref FF 60000 min s min sims Figure 5 4 TWINpos Slave closed loop control structure Delta increments per scan step are formed from the incremental master actual position P 2608 If the resolution factors vary between the master and slave the delta increments are corrected by the factor P 0270 P 2652 Then the corrected delta increments are multiplied firstly by the transmission ratio of the electronic gearing P 2653 P 2654 and secondly by the analog correction factor and the results are added together In addition parameter P 2583 can be used to execute a reversal of rotation direction betwee
10. a Sub ID O ox0000 0002 2 objects 0x0000 0002 2 objects Sub ID 1 0x0A25 0010 Actual torque 0x0A5A 0010 Current er P 2597 0 ror number 16 bits P 2650 0 16 bits Sub ID 2 0x0A27 0010 Actual speed Ox0A5A 0110 Current error lo P 2599 0 cation P 2650 1 16 bits 16 bits P2616 Mapping of receive Parameter value Meaning Parameter value Meaning data Sub ID O 0x0000 0002 2 objects 0x0000 0002 2 objects Sub ID 1 0x0A5A 0010 Current er Ox0A2C 0010 RemoteAct ror number Torque P 2604 0 P 2650 0 16 bits Sub ID 2 Ox0A5A 0110 Current error lo OxOA2E 0010 RemoteActSpeed cation P 2650 1 P 2606 0 16 bits Table 5 1 Parameters on master and slave drive for the preset TWINsync mode TWINspeed Mode 1 5 2 3 TWINspeed Slave Mode 2 This mode is a further variant for synchronization of mechanically coupled drive axes The master transfers its current actual speed and torque values via the TWINsync interface to the slave The slave uses the current master actual torque value as a torque pre control signal on the speed controller output The received actual speed value of the master is used as the speed reference for the slave s speed control loop Optionally the actual speed value can be filtered via a PT 1 element The speed controller on the slave side should be configured as a weak P controller in this mode MSD Description of remark TWINsync module 13 TWINsync module MOOG Mapping of the process data channel on the
11. be send TOPT MASLV ProcessSendData 1 mapped process data Ulnt32 TOPT MASLV ProcessSendData 2 mapped process data Ulnt32 TOPT_MASLV_ProcessSendData 3 mapped process data Ulnt32 Table 3 1 Configuration parameters of the TWINsync technology option board MSD Description of remark TWINsync module Description P 2616 TOPT_MASLV_ProcessReceiveDa TOPT mapping of process data to be send 0 TOPT_MASLV_ProcessReceiveDa number of mapped proc Ulnt32 ess data objects to be recieved 1 TOPT_MASLV_ProcessReceiveDa 1 mapped process data Ulnt32 2 TOPT_MASLV_ProcessReceiveDa 2 mapped process data Ulnt32 3 TOPT MASLV ProcessReceiveDa 3 mapped process data Ulnt32 P 2617 0 TOPT_MASLV_Statusword recieved system status Ulnt16 word P 2618 0 TOPT MASLV BootDelay ms Increase boot time to allow Ulnt16 synchronisation P 2619 TOPT_MASLV_CommStatus Status of communication Ulnt16 0 No error 1 2 Communication Error 2 switching frequency discrepancy 3 mode conflict 4 remote error P 2651 TOPT_MASLV_SlaveErrCtrl Activates the current slave Ulnt8 error monitoring P 2583 TOPT MASLV Slavelnvert Invert slave motion direc Int amp tion Table 3 1 Configuration parameters of the TWINsync technology option board 3 1 1 Master Slave selector P 2614 By way of the TWINsync interface the TWINsync slave synchronizes to the TWINsync master Consequently one of the two drives must be configured as the TWINsync mas ter and one as the
12. c module 9 TWINsync module MOOG 3 3 Parameterization of the TWINsync slave axis The slave axis receives the reference setpoint values from the master axis and uses them dependent on the TWINsync mode preset via parameter P 2580 Depending on the mode master axis torque speed or position reference or actual values are required For the slave axis to receive the reference value via the TWINsync interface the set point source must be configured via parameter P 0165 MPRO REF SEL to the value 11 TWINsync The reference values for control of the slave axis are then formed from the parameters listed in table 3 8 dependent on the control mode set by the control mode selector P 0300 The scaled parameters are first scaled back to the local units system in line with field parameter P 2609 MSD Description of remark TWINsync module 4 Open loop control via TWINsync The slave drive in the TWINsync pairing can be controlled by the TWINsync master by way of the TWINsync control word or any other control location e g digital inputs or field bus The control location is configured using the control location selector param eter P 0159 To select the control location TWINsync the value TWINsync 8 must be set for P 0159 Open loop control of the drive is then effected by way of the TWIN sync control word parameter P 2611 see table 4 1 and the drive status is mapped in parameter P 2612 see table 4 2 The TWINsync master
13. copies its own control word to the TWINsync control word transferred over the process data channel from the TWIN sync master to the TWINsync slave The TWINsync slave thus obeys the same control commands as the TWINsync master Error resets and homing can additionally be initi ated on the slave by way of the TWINsync control word The TWINsync slave likewise transfers its TWINsync status word back to the TWINsync master via the process data channel Function Description 0 Operation mode 0 Reserved 1 Operation mode 1 2 Operation mode 2 3 Operation mode 3 4 Operation mode 4 5 EnableOperation Start loop control 6 SwitchOn Switch on power stage i CoastStop Drive torque free 8 QuickStop Quick stop 9 StartHoming Start homing 10 FaultReset Fault error reset i EnableVoltage 12 FREE1 Reserved 13 FREE2 Reserved Function Description 14 FREE3 Reserved 15 FREE4 Reserved Table 4 1 Assignment of the TWINsync control word parameter P 2611 Function Description Table 4 1 Assignment of the TWINsync control word parameter P 2611 MOOG 0 Operation mode 0 Reserved 1 Operation mode 1 2 Operation mode 2 3 Operation_mode_3 4 Operation_mode_4 5 OperationEnabled Loop control active 6 Fault Drive in fault error state 7 CoastStop Drive is torque free 8 QuickStop Drive in quick stop state 9 Homing attained Drive is homed 10 FREE1 Reserved 11 FREE2 12 FREE3 133 ActDrivecom 0 Current DriveC
14. e actual torque value of the master drive Figure 5 2 shows the closed loop control structure of the slave drive P2609 0 Master 32768 P2581 actual torque P2597 L gt 7 e Y SIGN P2585 MAXI P2584 gt x H gt 0 Mast eet T Slave aster 32768 actual speed Pasaz Y torque setpoint P2509 L 0 E Fiter gt A Speed Torque setpoint Torque setpoint controller filter limitation Slave actual speed Figure 5 2 Closed loop control structure TWINspeed Slave Mode 1 The actual torque value of the master determines the torque reference limitation in the slave drive Accordingly during a positioning job the torque limitation of the slave is adapted online to the actual torque value of the master The torque is thus split opti mally across both drives and pass through of the slave drive is prevented in the event of short time cutting of the mechanical coupling such as when mechanical slip occurs in a traction drive MOOG Parameter Setting in master MASTER 2 SLAVE 1 TWINSPD_MASTER1 1 TWINSPD_SLAVE1 2 Setting in slave P 2614 TWINdrive mode P2580 TWIN Setting P 0300 Control mode Any SCON 2 P0165 Reference selector Any TWINsync 11 P 0301 Reference mode Any IP mode 1 P 2615 Mapping of send Parameter value Meaning Parameter value Meaning dat
15. g is a registered trademark of Moog Inc and its subsidiaries All quoted trademarks are property of Moog Inc and its subsidiaries All rights reserved 2010 Moog GmbH Technical alterations reserved The contents of our documentation have been compiled with greatest care and in compliance with our present status of infor mation Nevertheless we would like to point that this document cannot always be updated parallel to the technical further development of our products Information and specifications may be changed at any time For information on the latest version please refer to drives support moog com ID no CB08759 001 Rev 1 0 10 2010
16. he TWINsync interface The parameters from which the data to be sent are compiled and the parameters to which the received data are copied are set both for the TWINsync master and the TWINsync slave By way of the TWINsync interface a maximum of three parameters with a maximum total 8 bytes length can be cyclically exchanged in both directions The following listing summarizes the key features of the TWINsync option MSD Description of remark TWINsync module a Key features of the TWINsync option Serial data transfer via twisted pair cable RS485 in master slave mode Electrical isolation of the transfer channel from the control board Transfer rate 4 MBaud Full duplex mode Frame size 12 bytes of which 8 bytes user data in each transfer direction Frame rate Data transfer takes place at the speed control clock rate depending on the switching frequency 8 kHz maximum Monitored synchronization of master and slave at PWM level Free mapping of the sent and received data onto parameters Monitoring of data transfer with a 16 bit CRC checksum 1 1 Hardware requirements For TWINsync linking of two MSD Servo Drive drives the TWINsync option board for the X8 technology interface of the MSD Servo Drive is required in both drives article no G39x xxx x4x xxx The TWINsync option board is factory fitted and automatically detected by the MSD Servo Drive firmware monitored via display parameter P 0053 TWINs
17. lingSpeed rpm External drive reference Float32 speed Table 3 6 Reference variables for scaling of the local and external torque and speed signals Table 3 7 shows the parameters typically used for the process data being sent Param eters P 2596 to P 2601 describe the local target and actual values for torque speed and position Description P 2596 0 MPRO TWIN LocalRefTorque Scaled Scaled torque reference Int16 local P 2597 0 MPRO_TWIN_LocalActTorque Scaled Scaled actual torque Int16 local P 2598 0 MPRO_TWIN_LocalRefSpeed Scaled Scaled speed reference Int16 local P 2599 0 MPRO TWIN LocalActSpeed Scaled Scaled actual speed Int16 local P 2600 0 MPRO TWIN LocalRefPos POS Position reference local Int32 P 2601 0 MPRO TWIN LocalActPos POS Actual position local Int32 Table 3 7 Parameters frequently used to send process data Table 3 8 shows the parameters typically used for the process data being received Parameters P 2603 to P 2608 are available as data containers to receive the external Remote target and actual values for torque speed and position MOOG Description P 2603 0 MPRO TWIN RemoteRefTorque Scaled Scaled torque reference Int16 remote P 2604 0 MPRO TWIN RemoteActTorque Scaled Scaled actual torque Int16 remote P 2605 0 MPRO TWIN RemoteRefSpeed Scaled Scaled speed reference Int16 remote P 2606 0 MPRO TWI
18. n the master and slave Then the corrected delta increments are up integrated to the incre mental modulo value of the slave For external speed pre control the current actual speed value of the master is used in revolutions per minute Just as in position process ing this actual value is multiplied by the factor of the electronic gearing P 0270 P 2652 and by the same analog correction factor Parameter Setting in master Setting in slave P 2614 TWINdrive mode MASTER 2 SLAVE 1 P2580 TWIN Setting TWINPOS MASTER 7 TWINPOS_SLAVE 8 P 0300 Control mode Any PCON 2 P0165 Reference selector Any TWINsync 11 P 0301 Reference mode Any IP mode 1 P2615 Mapping of send Parameter value Meaning Parameter value Meaning data Sub ID O 0x0000 0002 2 objects 0x0000 0002 2 objects Sub ID 1 0x019C 0010 Actual position Ox0A5A 0010 Current er P 0412 32 bits ror number P 2650 0 16 bits Sub ID 2 0x0A27 0010 Actual speed Ox0A5A 0110 Current error lo P 2599 0 cation P 2650 1 16 bits 16 bits P2616 Mapping of receive Parameter value Meaning Parameter value Meaning data Sub ID 0 0x0000 0002 2 objects 0x0000 0002 2 objects Sub ID 1 Ox0A5A 0010 Current er 0x0A30 0020 RemoteActPos ror number P 2608 0 P 2650 0 16 bits Sub ID 2 Ox0A5A 0110 Current error lo Ox0A2D 0010 RemoteRefSpeed cation P 2650 1 P 2605 0 16 bits Table 5 2 Parameters on master and slave drive for the preset TWINsync mode TWINpos
19. om state bit O 14 ActDrivecom 1 Current DriveCom state bit 1 115 ActDrivecom_2 Current DriveCom state bit 2 Table 4 2 Assignment of the TWINsync control word parameter P 2612 MSD Description of remark TWINsync module 11 TWINsync module MOOG 5 TWINsync operation modes By way of parameter P 2580 various preset TWINsync operation modes can be selected The process data configuration is automatically effected according to the selected mode In the following the selectable operation modes are listed 5 1 USER mode If this mode is selected the user can assign the process data channel of the TWINsync bus freely For this field parameters TOPT TWIN ProcessSendData P 2615 and TOPT TWIN ProcessReceiveData P 2616 can be used to define how many and which objects are to be sent or received see section 3 1 4 If the mapping parameter TOPT TWIN ProcessSendData P 2615 TOPT TWIN Recieve Data P 2616 is changed by the user the mode is automatically reset to USER MSD Description of remark TWINsync module 12 5 2 TWINspeed mode TWINspeed mode is useful for speed synchronization of mechanically coupled axes such as twin traction or lift drives The master transfers its actual speed and torque values via the TWINsync interface to the TWINsync slave The TWINsync slave then processes the two variables and forwards them to an internal closed loop control structure Figure 5 1 shows the process data interface between the maste
20. onnected to the SYNC OUT on the other end and vice versa The same applies to RX and TX The cable of one signal must be connected to the respective cable of the other The respective cables must be interconnected in the same way Table 2 1 Assignment of the 9 pin D Sub female connector X8 on the TWiNsync option board MOOG Connector 1 Connector 2 Pin no Pin no 1 SYNC IN SYNC OUT 2 2 SYNC OUT SYNC IN 1 3 GND GND 3 4 RX TX 5 5 TX RX 4 6 SYNC IN SYNC OUT 7 7 SYNC OUT SYNC IN 6 8 RX TX 9 9 TX RX 8 Table 2 2 Pin assignment of the TWINsync connecting cable MSD Description of remark TWINsync module 5 TWINsync module MOOG 3 Parameter description The following details the specific parameters of the TWINsync option board 2 1 General parameters of the TWINsync communication interface NOTE For a description of general parameters refer to the MSD Servo Drive user documentation Table 3 1 shows the configuration parameters for the communication interface of the TWINsync option Description P 2613 TOPT MASLV MaxFaultTime ms Maximum fault state time Float32 for TOPT communication channel P 2614 TOPT MASLV Mode Select Master or Slave Ulnt16 Mode 0 OFF 12 SLAVE 2 MASTER P 2615 TOPT_MASLV_ProcessSendData TOPT mapping of process Ulnt16 data to be send TOPT MASLV ProcessSendData number of mapped proc Ulnt32 ess data objects to
21. r and slave drives in TWINspeed mode Fixed mapping Control word P2611 9 Communication status P2617 _ gt Checksum 4 Status word P2612 4 Communication status P2617 a Checksum MSD MSD Servo Drive Servo Drive Master Mapping by mode TWINSPD Slave Actual torque P2597 gt Actual speed P2599 3 4 Error number P2650 0 a Error location P2650 1 Figure 5 1 TWiNspeed process data interface 5 2 1 TWINspeed Master This mode is selected by setting P 2580 TWINSPD Master In this mode the mas ter transmits its actual torque P 2597 and actual speed P 2599 values The received data expected by the master via TWINsync are interpreted as the current error number P 2650 0 and error location P 2650 1 of the slave drive 5 2 2 TWINspeed Slave Mode 1 In this mode the actual speed value of the master drive is used as the primary speed reference primary setpoint of the slave drive A secondary reference proportional to the primary reference is added to the primary reference and specified as a percent age by way of parameter P 2584 If the secondary reference calculated in this way falls below the threshold value set by parameter P 2585 that threshold value is used as the secondary reference In this the sign of the secondary reference corresponds to the sign of th
22. ration parameters P 2615 mapping of sent data and P 2616 map ping of received data can be modified directly The mode selector parameter P 2580 can also be used to set an automatic configuration for preset operation modes see section 5 P 2615 and P 2616 are field parameters with four elements each The first element sub ID 0 determines how many parameters are sent received by this axis A maximum of three parameters are supported in each direction The other three field ele ments sub ID 1 3 select which parameters are sent received The entries under sub ID 1 3 are coded as set out in table 3 5 MSD Description of remark TWINsync module 8 Description PPPPxxxxh 2 bytes parameter ID of the parameter to be sent as HEX value XXXxSSxxh 1 byte parameter sub ID of the parameter to be sent as HEX value XXXXXXWWh 1 bytes word width of the parameter to be sent as HEX value 32 bit parameters Int32 UInt32 Float32 WW 20h 16 bit parameters Int16 UInt16 WW 10h Table 3 5 Structure of parameter P 2615 P 2615 sub ID 1 3 for mapping of the process data to be sent A fundamental requirement when configuring the process data is that the sequence and data width of the received data of one axis matches the sequence and data width of the sent data of the other axis This parameter matching cannot be monitored by the MSD Servo Drive and so must be ensured by the user 3 1 5 Scaling of process data In order to transfer the
23. teeeeeeseaaes 4 LE y 9y OP 6 Monitoring functions Error messages ssssssssss 16 1 1 Hardware requirements ioci eter ate teer M ee EVER FRE UE OUS SP Mrd 4 1 2 Software requitremielts cce eet e EHE PEE EU d EUH EHE e TUE UEH Pet et 4 EE WS CAIN d MERE a aaa aa E 5 2 4 Pin assignment of the TWINsync connecting cable ssssssssssssssess 5 3 Parameter description ssssssssssssssseeeees 6 3 1 General parameters of the TWINsync communication interface sususs 6 3 1 1 Master Slave selector P 2614 ssesssesessesseseeeenenn entente tnter 7 3 1 2 Communication timeout monitoring 7 3 1 3 Structure of the TWINsync data telegram ssssssssssseeeee 7 3 1 4 Configuration of the process data sssssssssssssseeeeeeenes 8 3 1 5 Scaling of process data 36 BOOLUp delay siei et atv lY eU GI I Ee RE TIR tU iei 3 2 Parameterization of the TWINsync master axis 9 3 3 Parameterization of the TWINsync slave axis ssssssssssssssssee 10 4 Open loop control via TWINsync sssssmm 11 Be TWINsync operation modes account tnr IE reete poor onec coit 12 SA USER MOIE T EE 12 B2 TWINS GCG Modeen nn ae eaa eale a ea E ha cbr P EE 12 5 21 TWINspeed Master nici eere nr enian ee fea A tec RE Eee EE 12 5 2 2 TWINspeed Slave Mode 1 0ccccccecccceeceeeeeeeeeeeeeeeeeeeeeeseseseseeesseeesseenseeeses 13 5 2 3 TWINspeed Slave Mode 2
24. ync 2 1 2 Software requirements Firmware version V2 15 V201 07 is required to run the TWINsync option 2 Installation ATTENTION Please be sure to read the MSD Servo Drive Operation Manual before installing the device It contains essential information relating to safety and installation as well as detailed connection diagrams 2 1 Pin assignment of the TWINsync connecting cable The TWINsync option board is located on option slot 2 of the MSD Servo Drive see Operation Manual and has a 9 pin D Sub female connector X8 The connector pin as signment is set out in table 2 1 Pin Option board X8 signal Meaning 1 SYNC IN Synchronization interrupt in via RS485 converter 2 SYNC OUT Synchronization interrupt out via RS485 converter 3 GND GND from driver 4 RX UART via RS485 converter Receive 5 TX UART via RS485 converter Transmit 6 SYNC IN Synchronization interrupt in via RS485 converter 7 SYNC OUT Synchronization interrupt out via RS485 converter 8 RX UART via RS485 converter Receive 9 TX UART via RS485 converter Transmit The TWINsync connecting cable must be shielded The pin assignment of the D Sub male connectors on the cable ends is set out in table 2 2 When using a twisted pair connecting cable the pairs must be formed from the respective matching terminals and The signal pairs of SYNC IN and SYNC OUT and of RX and TX must be crossed over in the cable The SYNC IN on one connector end is c
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