SETSYNC

Description

Enables/disables the transmission of synchronization messages. The drive/motor, were these messages are enabled, is master for the synchronization process. This is performed in two steps. First, the master sends a synchronization message to all axes, including to itself. When this message is received, all the axes read their own internal time. Next, the master sends its internal time to all the slaves, which compare it with their own internal time. If there are differences, the slaves correct slightly their sampling periods in order to keep them synchronized with those of the master. As effect, when synchronization procedure is active, the execution of the control loops on the slaves is synchronized with those of the master within a 10μs time interval. Due to this powerful feature, drifts between master and slave axes are eliminated. The TML command SETSYNC value activates the synchronization procedure if value is different from 0. Value represents the time interval in internal units between the synchronization messages sent by the master. Recommended value is 20ms. Setting value to 0 stops the master transmissions and deactivates the synchronization procedure.

Remark: The master for synchronization procedure can be any drive/motor from the network or a host. The master for this process may or may not be the same with the overall motion application master (if present).