Moog MSD Specification page 41

6 TWINsync operation modes
moog ID no.: CB08759-001 Date: 03/2023
6.2.13.1 EXT_MAP_MASTER / EXT_MAP_SLAVE, 31+32
This operation mode is selected by choosing P2580 = EXT_MAP_MASTER for the
master and P2580 = EXT_MAP_SLAVE for the slave.
ID Parameters Setting in the master
P2614 TWINdrive MASTER (2)
mode
P2580 TWIN_Setting EXT_MAP_MASTER(31)
P0300 Control mode any
P2701 Slave - - -
synchronization
P0159 Control selector any
P0165 Setpoint any
selector
P0301 Setpoint mode any
P2584 Speed-up - - -
P2602 Local scaling - - -
P2609 Remote scaling - - -
P2709[0] PhysicalLink[0]: Baud rate selection
Baud rate 0 = 4 M
1 = 2 M
2 = 1 M
3 = 800 k
4 = 500 k
5 = 400 k
6 = 250 k
P2709[1] PhysicalLink[1]: Frame size selection EXT_PDO =
Frame size extended mapping PDO
0 = 14 byte EXT_PDO
1 = 12 byte EXT_PDO
2 = 10 byte EXT_PDO
3 = 8 byte EXT_PDO
Table 6.15: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: Extended Mapping Mode
ID
Setting in the slave
SLAVE (1)
EXT_MAP_SLAVE(32)
any P2615
0 = SLAVE_SYNC_ISR, TwinSlave:
Synchronization via TWIN (Mode 1)
1 = SLAVE_SYNC_COM, TwinSlave:
Synchronization via field bus
2 = SLAVE_SYNC_ENC, TwinSlave:
Synchronization via TWIN (Mode2)
any
any
any
P2616
- - -
- - -
- - -
same as P2709[0] from master
same as P2709[1] from master
Table 6.15: Parameters for the master and slave drives of the pre-set TWINsync
operation mode: Extended Mapping Mode (continued)
Specification TWINsync module
Parameters Setting in the master
4 = 6 byte EXT_PDO
5 = 4 byte EXT_PDO
6 = 16 byte EXT_PDO
7 = 18 byte EXT_PDO
8 = 20 byte EXT_PDO
9 = 22 byte EXT_PDO
10 = 24 byte EXT_PDO
11 = 26 byte EXT_PDO
12 = 28 byte EXT_PDO
13 = 30 byte EXT_PDO
Mapping of the Parameter Meaning
sent data value (hex)
Sub-ID 0 pppp.SS.tt Tx ParaScope object 0
Sub-ID 1 pppp.SS.tt Tx ParaScope object 1
Sub-ID 2 pppp.SS.tt Tx ParaScope object 2
Sub-ID 3 pppp.SS.tt Tx ParaScope object 3
Sub-ID 4 pppp.SS.tt Tx ParaScope object 4
Sub-ID 5 pppp.SS.tt Tx ParaScope object 5
Sub-ID 6 pppp.SS.tt Tx ParaScope object 6
Sub-ID 7 pppp.SS.tt Tx ParaScope object 7
Mapping of the Parameter Meaning
received data value (hex)
Sub-ID 0 pppp.SS.tt Rx ParaScope object 0
Sub-ID 1 pppp.SS.tt Rx ParaScope object 1
Sub-ID 2 pppp.SS.tt Rx ParaScope object 2
Sub-ID 3 pppp.SS.tt Rx ParaScope object 3
Sub-ID 4 pppp.SS.tt Rx ParaScope object 4
Sub-ID 5 pppp.SS.tt Rx ParaScope object 5
Sub-ID 6 pppp.SS.tt Rx ParaScope object 6
Sub-ID 7 pppp.SS.tt Rx ParaScope object 7
tt : in hex: Type selection: 0 = ParameterData, 1 = ScopeData
41
Setting in the slave
Parameter Meaning
value (hex)
pppp.SS.tt Tx ParaScope object 0
pppp.SS.tt Tx ParaScope object 1
pppp.SS.tt Tx ParaScope object 2
pppp.SS.tt Tx ParaScope object 3
pppp.SS.tt Tx ParaScope object 4
pppp.SS.tt Tx ParaScope object 5
pppp.SS.tt Tx ParaScope object 6
pppp.SS.tt Tx ParaScope object 7
Parameter Meaning
value (hex)
pppp.SS.tt Rx ParaScope object 0
pppp.SS.tt Rx ParaScope object 1
pppp.SS.tt Rx ParaScope object 2
pppp.SS.tt Rx ParaScope object 3
pppp.SS.tt Rx ParaScope object 4
pppp.SS.tt Rx ParaScope object 5
pppp.SS.tt Rx ParaScope object 6
pppp.SS.tt Rx ParaScope object 7
pppp : in hex: Parameter ID or scope ID
SS : in hex: Parameter SubID in hex or "0" (if ScopeData)