2. System Function servo drives to realize the synchronization of multi-servo drives. As 2.2.1 figure is shown, 10MC is connected with 4 servo drives and T is the synchronization cycle. In the synchronization cycle, 4 servo drives receive the control data at different time (t1, t2, t3, t4) respectively but the control data do not get effective immediately. The control data will get effective while the servo drives receive the SYNC signals. Figure 2.2.1 Figure 2.2.2 is an example of motion program (using CFC language). When motion control module detects M2=on in a synchronization cycle, MC_MoveAbsolute instruction starts to be executed.
In this scan cycle, motion control module sends a piece of position control data to servo drive but M20 (Done bit) will not turn on. In the following several cycles, motion control module will constantly send the data to servo drives to control positions till the actual positions that servo drives feedbacks to motion control module approach the target position. At that time, “Done” bit M20=on and execution of MC_MoveAbsolute instruction is finished. Figure 2.2.2 Motion control task list 2-20 DVP-MC operating manual