Moog MSD Specification
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Moog MSD Specification

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MSD Servo Drive
Specification
Option 2 - Technology
TWINsync option

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Summary of Contents for Moog MSD

  • Page 1 MSD Servo Drive Specification Option 2 - Technology TWINsync option...

  • Page 2: Legal Information

    Specification Option 2 - Technology NOTE TWINsync option This document is not a substitute for the MSD Servo Drive Operation Manual. Please be certain to observe the information about “Measures for ID no.: CB08759-001 Rev. 1.2 Your Safety”, “Intended Use” and “Responsibilities” which can be found in Date: 03/2023 the operation manual.

  • Page 3: Table Of Contents

    6.2.7 dSPACE TWINsync (rapid-prototyping systems from the Fa. dSPACE company) 1.4  Pictograms 6.2.8 Interpolating positioning “IP” 1.5  Exclusion of Liability 6.2.9 MSD PLC control "PLC" 1.6  Support 6.2.10 Position setpoint (position reference value) 6.2.11 Serial Double Inverter "SDI" / Parallel Double Inverter "PDI"...

  • Page 4: General Information

    1 General information Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 1.2 Requirements 1 General information Requirements for using KEBA Industrial Automation Germany GmbH devices: The KEBA Industrial Automation Germany GmbH documentation set contains the The documentation for the devices must be legible, accessible at all times complete documentation belonging to the respective product series.

  • Page 5: Applicable Documentation

    Observing all the instructions and information in the documentation for KEBA Industrial Automation Germany GmbH devices is a prerequisite: for safe operation and to attain the performance characteristics and product characteristics described. Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 1 General information...

  • Page 6: Support

    1 General information moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 1.6 Support Our Technical Helpline helps you quickly and expertly if you have any technical questions concerning project planning or commissioning your device. Address: KEBA Industrial Automation Germany GmbH Gewerbestraße 5-9...
  • Page 7 Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 1 General information...

  • Page 8: The Twinsync Technology Option

    Drive. The TWINsync technology option is based on an optional communication interface available for the MSD Servo Drive for option slot 2 (X8) which can be used A maximum of up to 30 bytes of usable data can be sent via the TWINsync interface, to connect two MSD Servo Drive devices with one another.

  • Page 9: Hardware Requirements

    0-30 byte Asynchronous, synchronized via sync pulse Transfer mode technology interface of the MSD Servo Drive is required in both drives . The same max. 8 kHz Transfer rate applies as well for the MSD Servo Drive Compact. The option is detected max.

  • Page 10: Installation

    3.1 TWINsync connecting cable pin assignment 3 Installation The TWINsync option card is located at the MSD Servo Drive option slot 2 (see the Operation Manual) and is equipped with a 9-pin D-Sub socket (X8). The socket has the following pin assignment.

  • Page 11: Twinsync Connecting Cable Technical Data

    3  Installation moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 3.2 TWINsync connecting cable technical data Plug 1 Plug 2 Cable Pin no. Pin no. SYNC IN- SYNC OUT- TWINsync connecting cable SYNC OUT- SYNC IN- CB36987-xxx-yyy Article designation 1 m Cable length 2 x SUB-D 9-pin male...

  • Page 12: Description Of Parameters

    The specific parameters of the TWINsync option are described below. optioncommunication interface. NOTE: Data Name Unit Description type A description of general parameters can be found in the MSD Servo Drive TOPT_TWIN_ Maximum communication fault time (timeout monitoring) Float32 Device Help. 2613 MaxFaultTime...
  • Page 13 4  Description of parameters Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 Data Data Name Unit Description Name Unit Description type type TOPT_TWIN_ bits Bit status of communication (not used with extended UInt16 external fieldbus (com opt) 2619 CommStatus (ro) mapping) P2709 0...1 TOPT_TWIN_...

  • Page 14: Master/Slave Selector (P 2614) Topt_Twin_Mode

    This means that one of the drives must be parametrised as the TWINsync with the corresponding scope signals, for example in the MSD PLC. If there is a fault, master and one as the TWINsync slave. The parameter (P2614) TOPT_TWIN_Mode the last correctly received data are frozen.

  • Page 15: Configuration Of The Process Data In The Standard-Mapping Mode

    This matching of the parametrization cannot TechOptError A communication error is pending be monitored by MSD Servo Drive and must therefore be ensured by the user. Table 4.5: Structure of the received TWINsync status word (parameter P2617)

  • Page 16: Configuration Of The Process Data In The Extended-Mapping Mode

    P 2599 0 MPRO_TWIN_LocalActSpeed scaled scaled speed actual value Int16 parametrization of the device (factor group) as a 32-bit integer. Table 4.8: Frequently used parameters for transmitting process data Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 4  Description of parameters...
  • Page 17 4  Description of parameters moog Ausführungsbeschreibung TWINsync-Modul Id.-Nr.: CB08759-001  Date: 03/2023 4.2 Parametrization of the TWINsync master Data Sub ID Name Unit Description type axis (local) P 2600 0 MPRO_TWIN_LocalRefPos Position setpoint (local) Int32 P 2601 0 MPRO_TWIN_LocalActPos Position actual value (local)

  • Page 18: Parametrization Of The Twinsync Master Axis

    (P0300) CON_CfgCon. For the scaled parameters, conversion back to the local units system takes place prior to this in accordance with the field parameter (P2609) MPRO_TWIN_RemoteScaling. moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 4  Description of parameters...
  • Page 19 4  Description of parameters moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023...

  • Page 20: Control Via Twinsync

    DriveCom state bit 2 QuickStop Quick stop Table 5.2: Structure of the TWINsync status word (P2612) MPRO_TWIN_ Table 5.1: Structure of the TWINsync control word (P2611) MPRO_TWIN_ SlaveStatus SlaveCtrlWord moog ID no.: CB08759-001  Date: 03/2023 Specification TWINsync module 5  Control via TWINsync...
  • Page 21 5  Control via TWINsync Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023...

  • Page 22: Twinsync Operation Modes

    Table 6.3: Overview of the TWINsync operation modes using parameter (P2580) P0507 Selector for encoder channel 3 - - - TWINSYNC(6) MPRO_TWIN_Setting Table 6.2: Virtual encoder VE (torque) Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 6  TWINsync operation modes...

  • Page 23: User-Specific Mapping

    6  TWINsync operation modes Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 SUB Name UNIT Description Type SUB Name UNIT Description Type P2580 MPRO_TWIN_ dSPACE-TWINsync (rapid-prototyping systems from UInt8 P2580 MPRO_TWIN_ Function selector for automatic master/slave mapping UInt8 Setting the dSPACE company)

  • Page 24: Twin Drive Profile "Twd" (Speed)

    Table 6.4: Parameters for the master and slave drives of the pre-set TWINsync operation mode: User-specific mapping pppp: Parameter ID in hex SS: Parameter Sub-ID in hex ww: 10 hex for 16 bit, 20 hex for 32 bit Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 6  TWINsync operation modes...
  • Page 25 5  TWINsync operation modes moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 Parameters Setting in the master Setting in the slave Parameters Setting in the master Setting in the slave P2614 TWINdrive mode MASTER (2) SLAVE (1) Sub-ID 3 107D.0010...
  • Page 26 Table 6.6: Parameters for the master and slave drives of the pre-set TWINsync received from the master is used as the speed setpoint for the speed control circuit of operation mode: "TWin-Drive-Profile TWD" (speed) Version 2 moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023...
  • Page 27 6  TWINsync operation modes moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 Parameters Setting in the master Setting in the slave Static mapping Sub-ID 0 0000.0002 2 objects 0000.0003 3 objects Control word P2611 Sub-ID 1 0A5A.0010 current error 0A2C.0010...

  • Page 28: Speed And Position Control

    P2606 (16-bit) synchronization between a master and a slave drive. (16-bit) Table 6.7: Parameters for the master and slave drives of the pre-set TWINsync operation mode: Speed control (TWINspeed) moog ID no.: CB08759-001  Date: 03/2023 Specification TWINsync module 6  TWINsync operation modes...
  • Page 29 6  TWINsync operation modes Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 5.2.3.2 PCON_MASTER / PCON_SLAVE, 7+8 Parameters Setting in the master Setting in the slave Sub-ID 3 107D.0010 RemoteActEps This operation mode is selected by choosing P2580 = PCON_MASTER for the master...
  • Page 30 The SLAVE uses the position actual value from the master drive (P2608) to generate the position control setpoint and the current speed actual value (P2606) to generate the external speed pre-control value. moog ID no.: CB08759-001  Date: 03/2023 Specification TWINsync module...

  • Page 31: Double Inverter "Di

    6  TWINsync operation modes Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 The current speed actual value of the master in rpm is used for the external speed The following figure shows the control structure of the slave drive. pre-control. Just as for the position processing, this actual value is multiplied by the...

  • Page 32: Rack-And-Pinion Drive Control "Rpdc

    "Rack and Pinion Drive Control RPDC" (continued) Table 6.9: Parameters for the master and slave drives of the pre-set TWINsync operation mode: "Rack and Pinion Drive Control RPDC" Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 6  TWINsync operation modes...
  • Page 33 6  TWINsync operation modes moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 The following figure shows the process data interface between the master and slave MASTER drives and the process controller in the operation mode: "Rack and Pinion Drive PCON SCON Control RPDC"...

  • Page 34: Virtual Encoder "Ve" (Torque)

    0A5A.0010 current error setpoint P2596 number P2650[0] (16-bit) (16-bit) Table 6.10: Parameters for the master and slave drives of the pre-set TWINsync operation mode: "Virtual Encoder VE" (torque) moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 6  TWINsync operation modes...

  • Page 35: Dspace Twinsync (Rapid-Prototyping Systems From The Fa. Dspace Company)

    6.2.7 dSPACE TWINsync (rapid-prototyping systems from the Fa. dSPACE company) NOTE The five operation modes - PWM_SLAVE, 14 - TCON_SLAVE, 15 - SCON_SLAVE, 16 - PCON_1_SLAVE, 17 - PCON_2_SLAVE, 18 are described separately in the document: "TwinSync dSPACETwinSync dSPACE - MSD Servo Drive"...

  • Page 36: Interpolating Positioning "Ip

    6.2.9.1 PLC, 20 6.2.8 Interpolating positioning “IP” Set this operation mode for the master and the slave and write a corresponding MSD For the interpolating operation modes, the master positions that are sent are not PLC program. evaluated differentially and added to the internal position, but are instead used directly as the setpoint.

  • Page 37: Serial Double Inverter "Sdi" / Parallel Double Inverter "Pdi

    6  TWINsync operation modes Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 Parameters Setting in the master Setting in the slave Static mapping P2609 Remote scaling - - - same as P2602 from master (for Control word P2611 speed) Communication state P2617...
  • Page 38 MPRO_TWIN_SPDI_ Serial/parallel dual inverter slave (slave in ICON mode) Slave_ICON (not yet selectable) related documentation in a seperate document. Table 6.12: TWINsync operation modes for dual inverter operation moog ID no.: CB08759-001  Date: 03/2023 Specification TWINsync module 6  TWINsync operation modes...

  • Page 39: Gantry Application

    6  TWINsync operation modes Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 6.2.12 Gantry application Parameters Setting in the master Setting in the slave P0165 Setpoint selector TWINSYNC(11) Operation mode for gantry applications with position and speed tacking error P0301...

  • Page 40: Extended Mapping Mode

    “ParaScope objects”). Ideally, in combination with iPLC applications on master and slave. It is theoretically possible to write to scope data: the application must be created with corresponding foresight. Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 6  TWINsync operation modes...
  • Page 41 6  TWINsync operation modes Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 6.2.13.1 EXT_MAP_MASTER / EXT_MAP_SLAVE, 31+32 Parameters Setting in the master Setting in the slave 4 = 6 byte EXT_PDO This operation mode is selected by choosing P2580 = EXT_MAP_MASTER for the...

  • Page 42: Dual Stator Winding Motor "Dsw

    This matching of the parametrization cannot Operation modes 33 and 34 are intended for the operation of double-wound motors be monitored by MSD Servo Drive and must therefore be ensured by the user. (analogous to the “Double inverter DI” operation modes). The start-up procedure is for the most part identical.
  • Page 43 6  TWINsync operation modes moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023...

  • Page 44: Monitoring Functions / Error Messages

    Errors are only reported when the MSD Servo Drive is in the “Control” state (display shows State 5). The master/slave link has the primary error group “40”...

  • Page 45: Index

    Specification TWINsync module moog ID no.: CB08759-001  Date: 03/2023 8 Index Gantry applications Communication interface Installation Configuration parameters MSD PLC control "PLC Connecting cable Control word Master/Slave selector mechanically coupled axes D-Sub socket Modes of Operation Description of parameters Monitoring functions...
  • Page 46 Rack-and-Pinion Drive Control RPDC Scaling of the process data Serial Double Inverter "SDI" Speed and position control Speed synchronization Synchronous operation Table of contents Timeout monitoring Transfer rate TWINsync data telegram moog Specification TWINsync module ID no.: CB08759-001  Date: 03/2023 8  Index...
  • Page 47 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-Straße 28 D-71034 Böblingen Telefon +49 7031 622 0 www.moog.com/industrial drives-support@moog.com Moog is a registered trademark of Moog, Inc. and its subsidiaries. All quoted trademarks are property of Moog, Inc.

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