Specification TWINsync module
25
5 TWINsync operation modes
ID no.: CB08759-001Date: 03/2023
moog
ID Parameters Setting in the master Setting in the slave
P2614 TWINdrive mode
P2580 TWIN_Setting
P0300 Control mode
P0159 Control selector
P0165 Setpoint selector
P0301 Setpoint mode
P2584 Speed-up
P2602 Local scaling
P2609 Remote scaling
MASTER (2)
TWD_MASTER_V1(1)
any
any
any
any
- - -
any
- - -
SLAVE (1)
TWD_SLAVE_V1(2)
SCON(2)
TWINSYNC(10)
TWINSYNC(11)
IP-Mode(1)
any
- - -
same as P2602 from master
P2615 Mapping of the
sent data
Parameter value
(hex)
Meaning Parameter value
(hex)
Meaning
Sub-ID 0 0000.0003 3 objects 0000.0002 2 objects
Sub-ID 1 0A25.0010 local torque actual
value P2597 (16-
bit)
0A5A.0010 current error
number P2650[0]
(16-bit)
Sub-ID 2 0A27.0010 local speed actual
value P2599 (16-
bit)
0A5A.0110 current error
location P2650[1]
(16-bit)
Sub-ID 3 107C.0010 local position
actual value P4220
(16-bit)
Sub-ID 4
Sub-ID 5
Sub-ID 6
Sub-ID 7
P2616 Mapping of the
received data
Parameter value
(hex)
Meaning Parameter value
(hex)
Meaning
Sub-ID 0 0000.0002 2 objects 0000.0003 3 objects
Sub-ID 1 0A5A.0010 current error
number P2650[0]
(16-bit)
0A2C.0010 RemoteActTorque
P2604 (16-bit)
Sub-ID 2 0A5A.0110 current error
location P2650[1]
(16-bit)
0A2E.0010 RemoteActSpeed
P2606 (16-bit)
Table 6.5: Parameters for the
master and slave drives of the pre-set TWINsync
operation mode: "TWin-Drive-Profile TWD" (speed) Version 1
ID Parameters Setting in the master Setting in the slave
Sub-ID 3 107D.0010 RemoteActEps
P4221 (16-bit)
Sub-ID 4
Sub-ID 5
Sub-ID 6
Sub-ID 7
Table 6.5: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: "TWin-Drive-Profile TWD" (speed) Version 1 (continued)
Static mapping
MSD
Slave
MSD
Master
Checksum
Communication state P2617
Actual torque value P2597
Actual speed value P2599
Actual position value P4220
Error number P2650[0]
Control word P2611
Status word P2612
Mapping by TWD V1 mode (speed)
Error location P2650[1]
Checksum
Communication state P2617
Figure
6.1:
Process
data
interface
between
the
master
and
slave
drives
in
the
operation
mode:
"TWin-Drive-Profile
TWD"
(speed)
Version
1
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