BONFIGLIOLI Active cube Operation Manual page 117

Function with direct synchronization
The drive accelerates the master speed with the ramps parameterized in the motion
block. When the motion block is started, the drive is synchronized with the master drive
directly. The master position is processed directly by the position controller.
The acceleration and deceleration for synchronizations follow an S-curve.
The relative position change due to acceleration is compensated by the posi-
tion controller.
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Modbus/TCP