Sync Parameters

Sync parameters are parameters related to synchronous control. These parameters are set using functions such as SetParam and SetSyncParam.

The Axis value specifies whether the parameter should be specified for the synchronous control Master axis or Slaveaxis.

This page contains explanations for the following sync parameters:

• In Sync Width

• Sync Gain

• Sync Compensation Mode

• Master Desync Type

• Master Desync Dec

• Slave Desync Type

• Slave Desync Dec

• Match Pos

In Sync Width
Variable Name:	inSyncWidth
Type:	int
Unit:	user unit
Minimum Value:	0
Maximum Value:	2147483647
Default Value:	0
Axis:	Slave/Master

This parameter determines when sync compensation should be applied to a sync slave axis. When the sync error between the master axis and the slave axis exceeds this value, sync compensation will be applied.

This parameter should be set for the slave axis if the Sync Compensation Mode is VelocityOffset or SymmetricVelocityOffset.

This parameter should be set for the master axis as well if the Sync Compensation Mode is SymmetricVelocityOffset.

Also see Sync Compensation.

Sync Gain
Variable Name:	syncGain
Type:	double
Unit:	none
Minimum Value:	0
Maximum Value:	3
Default Value:	0
Axis:	Slave/Master

This parameter determines the gain when sync compensation is applied. The sync error between the master axis and slave axis will be multiplied by this value when applying sync compensation.

This parameter should be set for the slave axis if the Sync Compensation Mode is VelocityOffset or SymmetricVelocityOffset.

This parameter should be set for the master axis as well if the Sync Compensation Mode is SymmetricVelocityOffset.

Also see Sync Compensation.

Sync Compensation Mode
Variable Name:	syncCompensationMode
Type:	SyncCompensationMode
Default Value:	VelocityOffset
Axis:	Slave

This parameter determines the mode at which additional compensation is applied to improve the synchronization between the master and slave axes. See SyncCompensationMode for additional information of each mode.

Also see Sync Compensation.

Master Desync Type
Variable Name:	masterDesyncType
Type:	MasterDesyncType
Default Value:	NoAction
Axis:	Master

The action executed by the master axis when it one of the slave axes loses synchronization. A sync slave axis can lose synchronization if it encounters an amp alarm, the servo turns off, etc. This action is not executed if synchronization is deliberately stopped with functions such as ResolveSync.

Master Desync Dec
Variable Name:	masterDesyncDec
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Axis:	Master

This value determines the deceleration of the master axis if synchronization is lost and the Master Desync Type is set to DecServoOff or Dec.

Slave Desync Type
Variable Name:	slaveDesyncType
Type:	SlaveDesyncType
Default Value:	NoAction
Axis:	Slave

The action executed by the slave axis when it loses synchronization with the master axis due to the master axis servo turning off.

Slave Desync Dec
Variable Name:	slaveDesyncDec
Type:	double
Unit:	user unit / second^2
Minimum Value:	1e-6
Maximum Value:	274877906943
Default Value:	10000
Axis:	Slave

This parameter is reserved, and has no effect.

Match Pos
Variable Name:	matchPos
Type:	bool
Default Value:	FALSE
Axis:	Slave

TRUE: Sync Pos Cmd and Sync Actual Pos will be used instead of Pos Cmd and Actual Pos for the following functions:

• SetLog

• SetFlightRecorderParam

• SetEvent

• SetPSOConfig

• SetPlannedVelOverrideConfig

• SetSoftwareTouchProbe

• SetCommandPos

• SetFeedbackPos

• StartECAM (if this axis is a slave axis and also an ECAM master axis)

This parameter may be changed any time during sync operation.