Danfoss VLT 5000 Series Manual page 112

In doing so the slave takes its own acceleration time
into consideration and will start moving if necessary
before the correct position has been reached if the
master already has a higher velocity.
Instead of using this catch-up procedure it is also
possible to move the slave with CVEL to approxima-
tely the same velocity as the master and then trigger
SYNCP.
A change in the SYNCPOSOFFS (54) during the
synchronization leads to a new synchronization
procedure with ramps (see above).
NB!
SYNCP should only be called up once since
the synchronizing continues until the next
motion or stop command. All additional SYNCP
commands cause the synchronization to start over
again from the beginning and this is not normally
intended, as you reset the actual SYNCERR.
Command group
SYN
Cross Index
parameter of the AXS group
Syntax-Example
SYNCP
/* normal synchronization of the position */
CVEL 50
/* achieve velocity before synchronization */
CSTART
WAITT 500
SYNCP
112
VLT ® 5000 SyncPos option
I I I I I SYNCSTAT
The following flags are defined and can be queried
with SYNCSTAT: READY, FAULT, ACCURACY and
MHIT and MERR for both the master and the
slave.
Summary
Flag to query synchronization status
Syntax
res = SYNCSTAT
Return value
res = synchronization status with the following
meaning:
Value
SYNCREADY
SYNCFAULT
SYNCACCURACY
SYNCMMHIT
SYNCSMHIT
SYNCMMERR
SYNCSMERR
SYNCACCURACY
The controller checks whether SYNCERR <
SYNCACCURACY (55) is true every ms. If this is
true, then SYNCACCURACY is set, otherwise the
flag is deleted. This check is made for both
SYNCP and SYNCM.
This flag is not used with SYNCV.
When executing a SYNCP or SYNCM command
the flag is deleted.
SYNCFAULT / SYNCREADY
For every SYNCP or SYNCM command these flags
are deleted. Subsequently the program checks
whether SYNCACCURACY is set or not at every
marker pulse of the slave (SYNCP) or when a mar-
ker pulse of the master and a marker pulse of the
slave exist (SYNCM).
If it is set the ready counter is increased and the
fault counter is set to 0, otherwise the fault counter
is increased and the ready counter set to 0.
If the ready counter is greater than the value
determined by the parameter SYNCREADY (56),
then the flag SYNCREADY is set. Otherwise it is
deleted.
If the fault counter is greater that the value deter-
mined by the parameter SYNCFAULT (57) then the
flag SYNCFAULT is set. Otherwise it is deleted.
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