Moog MSD Servo Drive Handbuch Seite 10

3 Parameterbeschreibung
moog Id.-Nr.: CB08759-002 Stand: 05/2016
Sub-
ID Name Einheit Beschreibung
Id
Bit status of communication (not used with extended
P TOPT_TWIN_ bits
2619 CommStatus (ro) mapping)
0: No error
1: Communication error, communication lost (error
frames > P2613)
2: switching-frequency discrepancy
3: master / slave mode conflict
4: -
5: Different DriveCom states between master and
slave
6: dSpace mode control error (different mode detected
– only dSpace modes)
7-15: -
P TOPT_TWIN_ ns TWINsync system load. Actual load of TWINsync
2623 SystemLoad (ro) communication (receive and transmit)
and handling of protocol data (mapping)
Configuration of TWIN special function (default not
P2651 TOPT_TWIN_Config bits
necessary).
Bit:
0: -
1: Shift TWIN RX/TX handling to next 16 kHz control
cycle
(saves possibly CPU load of the position loop cycle).
2: Disable DriveCom state handling on TWIN master
(disable check of slave status).
Normally master waits until slave is switched on and
in state 'Operation- Enabled',
after this, master switches on its control.
3-15: -
P2701 TOPT_TWIN_ wet Synchronisation selection (TWIN/fieldbus)
SyncSel 0 = SLAVE_SYNC_ISR, TWINslave, sync by TWIN
(mode 1)
1 = SLAVE_SYNC_COM, TWINslave, sync by
external fieldbus (com opt)
2 = SLAVE_SYNC_ENC, TWINslave, sync by TWIN
Tabelle 3.1: Konfigurationsparameter der Technologieoptionskarte TWINsync
(Fortsetzung)
Sub-
Datentyp ID Name
Id
UInt16
P2709 0...1 TOPT_TWIN_
PhyLinkConfig
P2709 0 Baudrate
P2709 1 Frame size
Float32
UInt32
Tabelle 3.1: Konfigurationsparameter der Technologieoptionskarte TWINsync
(Fortsetzung)
UInt16
Ausführungsbeschreibung TWINsync-Modul
Einheit Beschreibung
(mode 2)
3 = MASTER_NO_COM_SYNC, TWINmaster, no
sync by external fieldbus (com opt)
physical and link configuration
baudrate selection
0 = 4 M
1 = 2 M
2 = 1 M
3 = 800 k
4 = 500 k
5 = 400 k
6 = 250 k
frame size selection
(sm) = (standard mapping)
(em) = (extended mapping)
0 = 10 byte PDO (sm) or 14 byte EXT_PDO (em)
1 = 8 byte PDO (sm) or 12 byte EXT_PDO (em)
2 = 6 byte PDO (sm) or 10 byte EXT_PDO (em)
3 = 4 byte PDO (sm) or 8 byte EXT_PDO (em)
4 = 2 byte PDO (sm) or 6 byte EXT_PDO (em)
5 = 0 byte PDO (sm) or 4 byte EXT_PDO (em)
6 = 12 byte PDO (sm) or 16 byte EXT_PDO (em)
7 = 14 byte PDO (sm) or 18 byte EXT_PDO (em)
8 = 16 byte PDO (sm) or 20 byte EXT_PDO (em)
9 = 18 byte PDO (sm) or 22 byte EXT_PDO (em)
10 = 20 byte PDO (sm) or 24 byte EXT_PDO (em)
11 = 22 byte PDO (sm) or 26 byte EXT_PDO (em)
12 = 24 byte PDO (sm) or 28 byte EXT_PDO (em)
13 = 26 byte PDO (sm) or 30 byte EXT_PDO (em)
10
Datentyp
UInt16
UInt16
wet : Wertersatztext
ro : read-only
rw : read/write
(sm) : standard-mapping
(em) : extended-mapping