The virtual master can also used as a common master reference source for several
drives when connected by the master/follower link.
￭
Master/follower functionality for position control
The master/follower (M/F) link can be used to synchronize several axes for so-called
“electrical shaft” operation. The external control and reference signals are typically
connected to one drive which acts as the master. The master axis has its own
position profile or can be synchronized with its own master reference (see section
Master reference (page 51)). Followers can be synchronized to the actual position
of the master, position reference (profile) of the master, or the master reference
of the master (master and followers synchronized to the same master reference).
The master/follower link can be made using electrical cable between the XD2D
connectors, or using fiber optic cable (via FDCO/RDCO options). See the hardware
manual of the drive for wiring instructions.
Compared to the standard master/follower functionality of the ACS880 (as
described under Master/follower functionality (page 66)), the ACS880 position
control program has additional settings to enable fast and synchronized
communication. Parameter 60.33 activates a 500-microsecond time cycle for the
master/follower link. Parameter 96.35 is used to synchronize the time levels of
control loops in the drives on the link; this parameter needs to be set to DDCS sync
in both master and follower drives to avoid time level drifting. The time level offset
between the master and follower can be fine-tuned with 96.36.
The following drawing is an overview of the parameters that configure the
master/follower link.
88.50 D2D send type
- Master value
- Reference position
- Actual position
Transmit data selection
- 61.01 M/F data 1: D2D position
- 61.03 M/F data 3: D2D velocity
Velocity scaling
- 88.51 D2D send scale axis velocity
- 88.52 D2D send scale master velocity
Master/Follower link
- 60.01 M/F communication port: XD2D/FDCO
- 60.02 M/F node addess: 0...1
- 60.03 M/F mode: DDCS master
- 60.05 M/F HW connection: Star/Ring
- 60.33 Fast M/F comm mode: Enable
- 96.35 Kernel sync mode: DDCS sync
- 96.36 Kernel sync offset
Master value
87.02 Master position reference ungeared
87.04 Master velocity reference
Reference position
88.01 Position reference used
88.02 Velocity reference used
Actual position
86.08 Actual position raw
86.03 Actual velocity
88.53 D2D position send
88.54 D2D velocity send
87.11 Master reference source
- D2D Master value
- D2D Axis value (Actual/Reference)
Receive data selection
- 62.01 M/F data 1: M/F position
- 62.03 M/F data 3: M/F velocity
Velocity scaling
- 87.40 D2D rec scale axis velocity
- 87.41 D2D rec scale master velocity
Master/Follower link
- 60.01 M/F communication port: XD2D/FDCO
- 60.02 M/F node addess: 2...60
- 60.03 M/F mode:DDCS follower
- 60.05 M/F HW connection: Star/Ring
- 60.33 Fast M/F comm mode: Enable
- 96.35 Kernel sync mode: DDCS sync
- 96.36 Kernel sync offset
Master / Transmit data
61.25 M/F data 1 value
61.26 M/F data 2 value
61.27 M/F data 3 value
Follower /Receive data
62.25 M/F data 1 value
62.26 M/F data 2 value
62.27 M/F data 3 value
62.241 D2D position received
62.242 D2D velocity received
Master / Follower link
88.65 Pos ref sync
88.66 Velocity ref sync
Position control program features 53
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