Configuration Of The Process Data In The Extended-Mapping Mode; Scaling Of The Process Data - Moog MSD Specification

4.1.5 Configuration of the process data in the extended-
mapping mode
The so-called extended-mapping mode can be selected via the operation mode
selector "TWIN_Setting".
Depending on whether the axis is a TWINmaster or a TWINslave, this operation
mode is selected by choosing P2580 = EXT_MAP_MASTER for the master and
P2580 = EXT_MAP_SLAVE for the slave.
For more on this, see the corresponding chapter on selecting the operation modes
(chapter "TWINsync operation modes" on page 19).

4.1.6 Scaling of the process data

In order to be able to transmit the three most commonly used variables, torque,
speed and position, via the TWINsync interface simultaneously, a corresponding
scaling of the torque and speed variables from the 4-byte floating-point format used
internally to a scaled 2-byte integer format has been implemented. The references
used for scaling the "local" torque and speed values (sent data) are specified using
the parameter (P2602) MPRO_TWIN_LocalScaling. The references used for
descaling the torque and speed values received from the external drive ("remote")
are specified using the parameter (P2609) MPRO_TWIN_RemoteScaling (see the
next table).
The first field entry (SubID: 0) in P2602 / P2609 contains the value of the reference
torque in Nm. The second field entry (SubID: 1) contains the value of the reference
speed in rpm. The third field entry (Sub-ID: 2) contains the value of the reference
current in 100 mA (see P2697[2]). The scaling represents the value range between
the negative and positive reference value over the numerical range [-32768 ...
32767]. The position data are transferred in the format specified by the units
parametrization of the device (factor group) as a 32-bit integer.
moog
ID no.: CB08759-001 Date: 03/2023
4 Description of parameters
NOTE:
Generally speaking, the references P2602 / P2609 and the factor-group
settings in the master and slave drives should be identical.
S ub
ID Name
I D
P MPRO_TWIN_LocalScaling
2602
0 MPRO_TWIN_LocalScalingTorque
1 MPRO_TWIN_LocalScalingSpeed
P MPRO_TWIN_RemoteScaling
2609
0 MPRO_TWIN_RemoteScalingTorque
1 MPRO_TWIN_RemoteScalingSpeed
2 MPRO_TWIN_RemoteScaleCurrent
Table 4.7: References for scaling the local and the external torque and speed
signals
The following table shows the parameters typically used for the process data which
are to be sent. The parameters P2596 - P2601 describe the "local" setpoint and
actual values for torque, speed and position.
ID Sub ID Name
P 2596 0 MPRO_TWIN_LocalRefTorque
P 2597 0 MPRO_TWIN_LocalActTorque
P 2598 0 MPRO_TWIN_LocalRefSpeed
P 2599 0 MPRO_TWIN_LocalActSpeed
Table 4.8: Frequently used parameters for transmitting process data
Specification TWINsync module
Unit Description Data type
Nm Reference torque, local Float32
drive
rpm Reference speed, local Float32
drive
Nm Reference torque, Float32
external drive
rpm Reference speed, external Float32
drive
100 mA Reference current, Float32
external drive (see P2697
[2])
Unit Description
scaled scaled torque setpoint (local)
scaled scaled torque actual value
(local)
scaled scaled speed setpoint (local)
scaled scaled speed actual value
16
Data
type
Int16
Int16
Int16
Int16