Beckhoff TS5066, Manual

Page: 8 / 31

Overview
TS5066 8 Version: 1.0
Application example
A typical application for the synchronization of distributed systems would be operation of interpolating or
coupled NC axes (e.g. master/slave coupling) on different computers ("distributed axes"). Step changes in
the set values of the position and velocity caused by duplicate reading or missed information lead to periodic
malfunction. Figure 3 shows the actual velocity of a drive operated directly with the received set position
(position interface). The disturbances are caused by step changes in the received set positions.
Fig. 3: Figure 3: Actual velocity of an axis operated directly with received set values in the position interface.
The set position can be corrected in the receiver system prior to drive control commands being issued using
the method described above. To this end the received set position p
S
is extrapolated with the correction time
Δt and the received set velocity v
S
to set position p
S'
. Optionally, the set acceleration a
S
can be used for the
extrapolation. The following applies: p
S'
=p
S
+Δt*v
S
(+0.5*Δt
2
a
s
). Figure 4 shows the actual velocity of the axis
driven with the corrected set position p
S'
. The disturbances shown in Figure 3 are no longer present.