Hi Rodrigo,
Static crypto map - identifies peer and traffic to be encrypted explicitly. Typically used to accommodate a few tunnels with different profiles and characteristics (different partners, sites, location)
So when you have the information of both the peers that what policies are we going to use, what is the IP on both the devices we normally use Static VPN.
Dynamic crypto map - is one of the ways to accomodate peers sharing same characteristics (for example multiple branches offices sharing same configuration) or peers having dynamic IP addressing (DHCP, etc.)
For more info please check :
https://supportforums.cisco.com/document/12013476/crypto-map-based-ipsec-vpn-fundamentals-negotiation-and-configuration
Regards,
Aditya
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