Function overview
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y
t
t
: synchronisation interval
s y n c
t
P
t
P
: Setposition, intern interpolated
: Interpolation data
: Cycle time position control / positioning
: Interpolated
(reference value)
characteristic of the position
: Driven characteristic of the position (actual value)
t
p
Figure 7:
Linear interpolation between two data values
5.3.9
Time-synchronized multi-axis positioning
The implementation of the clock synchronisation allows simultaneous movements for multi-axis applications in conjunction
with “interpolated positioning mode”. All servo positioning controllers of the item C 1-Series, that is the entire controller
cascade, will be synchronized to the external clock signal. Pending positioning values in the case of multiple axes are then
taken over and executed simultaneously without jitter. The sync message of a CAN bus system or the EtherCAT “DC”
(Distributed Clock) can for example be used as a clock signal.
That way it is for example possible to send several axes with different path lengths and velocities to the destination at the same
time.
