Moog MSD Specification

Specification TWINsync module
26
6 TWINsync operation modes
ID no.: CB08759-001Date: 03/2023
moog
The following figure shows the control structure of the slave drive.
x
Receiving Master
Actual torque value
P2604
Receiving Master
Actual speed value
P2606
Receiving Master
Actual position value
P4221
P2609[0]
32768
P2581
P2585
P2584
P2582
P2609[1]
32768
Slave
Actual speed value
V
irtual encoder
Actual speed value, Slave
Actual position value, Slave
–
Speed controller
T
orque
setpoint filter
Torque
setpoint
limitation
Slave
Torque
setpoint
Filter
SIGN()
MAX()
Encoder
CH3
x
Figure 5.2: Control structure for "TWin-Drive-Profile TWD" (speed) Version 1
5.2.2.2 TWD_MASTER_V2 / TWD_SLAVE_V2, 3+4
This operation mode is selected by choosing P2580 = TWD_MASTER_V2 for the
master and P2580 = TWD_SLAVE_V2 for the slave. This operating
mode is another
variation for synchronizing mechanically co
u
p
l
e
d dr
ive axes. The master sends its
current speed actual value as well as the current torque actual value to the slave via
the TWINsync interface. The slave uses the current master torque actual value as a
torque pre-control signal at the speed controller output. The speed actual value
received from the master is used as the speed setpoint for the speed control circuit of
the slave. As an option, the speed actual value can be filtered via a PT1 element.
The speed controller on the slave side must be configured as a weak P-controller for
this operating mode.
The mapping of the process data channel on the master and slave side is the same
as that of the TWINspeed mode 1 operation mode (see previous table).
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_V2(3)
any
any
any
any
- - -
any
- - -
SLAVE (1)
TWD_SLAVE_V2(4)
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
Table 6.6: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: "TWin-Drive-Profile TWD" (speed) Version
2

Moog MSD Specifications

General

Brand	Moog
Model	MSD
Category	Servo Drives
Language	English