Specification TWINsync module
28
6 TWINsync operation modes
ID no.: CB08759-001Date: 03/2023
moog
The following figure shows the control structure of the slave drive.
Receiving Master
Actual torque value
P2604
Receiving Master
Actual speed value
P2606
Receiving Master
Actual position value
P4221
P2609[0]
32768
P2581
P2582
P2609[1]
32768
Slave
Actual speed value
Virtual encoder
Actual speed value, Slave
Actual position value, Slave
–
Speed controller
T
orque
setpoint filter
Slave
Torque
setpoint
Filter
Encoder
CH3
Figure
6.4:
Control
structure
for
"TWin-Drive-Profile
TWD"
(speed)
Version
2
6.2.3 Speed and position control
6.2.3.1 SCON_MASTER / SCON_SLAVE, 5+6
This operation mode is selected by choosing P2580 = SCON_MASTER for the master
and P2580 = SCON_SLAVE for the slave. This operation mode is suitable for speed
synchronization between a master and a slave drive.
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)
SCON_MASTER(5)
any
any
any
any
- - -
any
- - -
SLAVE (1)
SCON_SLAVE(6)
SCON(2)
TWINSYNC(10)
TWINSYNC(11)
IP-Mode(1)
- - -
- - -
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 6.7: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: Speed control (TWINspeed)
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