Moog MSD Specification

Specification TWINsync module
29
6 TWINsync operation modes
ID no.: CB08759-001Date: 03/2023
moog
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 6.7: Parameters for the master and slave drives of the pre-set TWINsync ope-
ration mode: Speed control (TWINspeed) (co
ntinued)
The following figure shows the process data interface between the master and slave
drives in the operation mode: Speed control (TWINspeed)
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 operation mode
Velocity control (TWINspeed)
Error location P2650[1]
Checksum
Communication state P2617
Figure 6.5: Process data interface between the master and slave drives in the
operation mode: Speed control (TWINspeed)
5.2.3.2 PCON_MASTER / PCON_SLAVE, 7+8
This operation mode is selected by choosing P2580 = PCON_MASTER for the master
and P2580 = PCON_SLAVE for the slave. This operation mode is suitable for position
synchronization between a master and a slave drive. In addition, an electronic gear
unit can be used on the slave axis.
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)
PCON_MASTER(7)
any
any
any
any
- - -
any
- - -
SLAVE (1)
PCON_SLAVE(8)
PCON(3)
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 0000.0002 2 objects 0000.0002 2 objects
Sub-ID 1 019C.0020 Position actual
value P0412 (32-
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
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 0000.0002 2 objects
Table 6.8: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: Position control (TWINpos)

Moog MSD Specifications

General

Brand	Moog
Model	MSD
Category	Servo Drives
Language	English