Moog MSD - 4.8 Connection of the supply voltages; 4.8.1 Connection of the control section supply (+24 V DC)

Specification TWINsync module
32
6 TWINsync operation modes
ID no.: CB08759-001Date: 03/2023
moog
designed to consist of a master/slave combination so that the slave assists the
master in positioning when the torque requirement is greater than the moment of
tension.
In this case, the slave drive travels through the previously compensated backlash in
order to assist the master in a positioning operation.
6.2.5.1 RPDC_MASTER / RPDC_SLAVE, 10+11
This operation mode is selected by choosing P2580 = RPDC_MASTER for the
master and P2580 = RPDC_SLAVE for the slave.
ID Parameters Setting in the master Setting in the slave
P2614 TWINdrive mode
P 2580 TWIN_Setting
P0300 Control mode
P0159 Control selector
P0165 Setpoint selector
P0301 Setpoint mode
P2584 Speed-up
P2602 Local scaling
P2609 Remote scaling
P2583 SlaveInverted
MASTER (2)
RPDC_MASTER(10)
any
any
any
any
- - -
any
same as P2602 from slave
1 / -1
SLAVE (1)
RPDC_SLAVE(11)
SCON(2)
TWINSYNC(10)
TWINSYNC(11)
IP-Mode(1)
- - -
any
same as P2602 from master
1 / -1
P4200 TwinRPDC_Sel 1 1
P4201 Current offset any any
P2659 CON_PRC_Kp - - - any
P2661 CON_PRC_Tn - - - any
P2663 CON_PRC_
LIMPOS
- - - + LIM
P2664 CON_PRC_
LIMNEG
- - - - LIM
Table 6.9: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: "Rack and Pinion Drive Control RPDC"
ID Parameters Setting in the slave
P2683 CON_PRC_
REFSEL
RPDC(1)
P2668 CON_PRC_
ACTSEL
ISQREF_SCON(5)
P2672 CON_PRC_
OUTSEL
Setting in the master
- - -
- - -
- - -
P2615 Mapping of the
sent data
Parameter value
(hex)
Meaning
REFSPEED(2)
Parameter value
(hex)
Meaning
Sub-ID 0 0000.0002 2 objects 0000.0001 1 object
Sub-ID 1 106A.0010 local current
setpoint tx P4202
(16-bit)
106A.0010 local current
setpoint tx P4202
(16-bit)
Sub-ID 2 106C.0010 local speed
setpoint P4204
(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 0000.0001 1 object 0000.0002 2 objects
Sub-ID 1 106B.0010 local current
setpoint rx P4203
(16-bit)
106B.0010 local current
setpoint rx P4203
(16-bit)
Sub-ID 2 0A2D.0010 RemoteRefSpeed
P2605 (16-bit)
Sub-ID 3
Sub-ID 4
Sub-ID 5
Sub-ID 6
Sub-ID 7
Table 6.9: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: "Rack and Pinion Drive Control RPDC" (continued)