The TML provides a synchronization procedure between the Technosoft drives/motors connected in a CAN network. When the synchronization procedure is active, the execution of the control loops is synchronized within a 10
time interval. Due to this powerful feature, drifts between the drives/motors are eliminated.
The synchronization process is performed in two steps. First, the synchronization 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 synchronization 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.
A drive/motor becomes the synchronization master when it receives the TML command SETSYNC value where value represents the time interval in internal units between the synchronization messages sent by the synchronization master. Recommended value is 20ms.