Class Sync::SyncGroup

Nested Relationships

This class is a nested type of Class Sync.

Class Documentation

class SyncGroup

This class contains settings for a sync group.

Public Functions

SyncGroup()

Public Members

int masterAxis

The master axis.

int slaveAxisCount

The number of slave axes in this sync group.

int slaveAxis[constants::maxAxes - 1]

The slave axis.

unsigned char servoOnOffSynchronization

When this parameter is set to 1, if any of the sync axes (master or slave) enters servo off state for any reason (such as user input or amp alarm), the remaining axes in the sync group are sent a servo off signal. Similarly, if any of the sync axes receives a servo on signal, the remaining axes in the sync group are sent a servo on signal. When this parameter is set to 0, the servo on/off signals of the sync axes are handled individually by each axis.

SyncGroupStartupType::T startupType

The startup type of the sync group.

SyncGroupDesyncType::T desyncType

The desync type of the sync group. Specifies the action to be taken for the axis of the sync group whose desync handling is triggered.

double desyncDec

The deceleration value used when desyncType is set to DecServoOff or Dec. This parameter specifies the deceleration in user units per second squared.

unsigned int gantryLoopCycleRatio

The ratio of cycles to update the velocity offset (used for sync compensation calculations) and the total cycles. If set to 0 or 1, the velocity offset is updated every communication cycle. If set to a value larger than 1, the velocity offset if only updated once that many communication cycles.

double maxCatchUpDistance

The maximum distance at which a catch up motion is executed when reestablishing sync control. If the difference between the master and slave axis command positions exceeds this distance, a sync error will be generated (the sync error can be checked in syncError returned by GetSyncGroupStatus). This parameter only applies if startupType is set to CatchUp.

double catchUpVelocity

The velocity to use during the sync catch up motion when reestablishing sync control. This parameter is only applicable when the startupType is CatchUp.

double catchUpAcc

The acceleration to use during the sync catch up motion when reestablishing sync control. This parameter is only applicable when the startupType is CatchUp.

double syncErrorTolerance

The maximum difference between the master and slave axis feedback positions that can be tolerated. If the difference between the master axis feedback position and the slave axis feedback position (for 0 sync offset case) exceeds this value, a sync error will be generated. This parameter is disabled and no sync error is generated when set to 0. This error will be detected only if the sync group has completed homing (the sync group homeDone status is 1) and the master axis is in servo on state.

unsigned char useMasterFeedback

If set to 1, the command position of the slave axis is calculated from the feedback position of the master axis. If set to 0, the command position of the slave axis is calculated from the command position of the master axis. Normally, this value is set to 0.

unsigned char allowAmpErrorServoOn

If set to 1, it is possible to turn on all the axis except for those in amp error alarm state using servoOnOffSynchronization. If set to 0, it is impossible to turn on any servos of the sync group while ampError of the group is triggered. Normally, this value is set to 0.