SYNP – Synchronization Position
Returns the value of the comparator, indicating the encoder/pulse position used to trigger the synchronization output. The default value of SYNP[axis] / SYNPOS[axis] is 0. The synchronization positioning commands can be used to set the comparator value by using SYNP[axis]=[n] or SYNPOS[axis]=[n]. Up to 1024 synchronization positions can be buffered using the Sync Position Buffer.
Applies to: CMD-4CR, CMD-4EX-SA
ASCII SYNP[axis]
Standalone SYNPOS[axis]
Syntax:
Read:
SYNP[axis]
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Where: [axis] is the axis (X, Y, Z, U) being addressed |
Write:
SYNP[axis]=[pos]
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Where: [axis] is the axis (X, Y, Z, U) being addressed [pos] is the target value for the sync Valid values for [pos] target value When synchronization mode is at-position or >, < position: Any value inside of the positioning control range (-134,217,728 to +134,217,727) (28bit) Target [pos] value is the absolute value relative to the position counter (P[axis]) or encoder counter (E[axis]). When synchronization mode is continuous: A positive value inside of the positioning control range (+1 to +134,217,727) Target [pos] is a relative value equal to the counts between synchronization output pulses. The counter is set to zero (0) based on the zero (0) position of the position counter (P[axis]) or encoder counter (E[axis]). It will count from zero (0) to the value set by [pos] at which point the synchronization output pulse is triggered. The next step will set the counter to zero (0) and continue to count up. |
Reply
Command is accepted and executed
Read:
Returns current target value set for synchronization mode (28-bit value)
Write:
OK
Command cannot be processed
An error message is returned. See Error Codes
Example:
ASCII
Request the current synchronization target value and set it to a new value.
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SYNPY |
* Request the current synchronization target value for the Y-axis. |
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SYNPZ=25000 |
* Sets the synchronization target value for the Z-axis to 25,000. |
Set synchronization target value with the output timing chart.
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SYNPX=4 |
* Sets the synchronization target value for the X-axis to 4. |
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SYNCX=8 |
* Sets sync mode to continuous, in any direction, on X-axis, based on pulse position. |
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SYNOX |
* Turns on synchronization for the X-axis. |
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Output based on this example (SYNPX=4 and SYNCX=8): |
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Standalone
Request the current synchronization target value and set to a new value.
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V1=SYNPOSX |
* Variable V1 is set to the current synchronization target value for X-axis. |
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SYNPOSU=800 |
* Sets the synchronization target value for the U-axis to 800. |
Notes:
- The synchronization comparator position value for each axis is read and set independently.
- Changes to the target value set by SYNO[axis] (SYNON[axis]) take effect in real-time. They are referenced to the zero (0) position of the position counter (P[axis]) or encoder counter (E[axis]).
- The target value set to SYNO[axis] (SYNON[axis]) must be within the positioning control range 28bit (-134,217,728 to +134,217,727) except when synchronization is set to continuous mode, in this case SYNO[axis]/SYNON[axis] must be a positive value (+1 to +134,217,727)
See also:
SYNC, SYNF, SYNO, SYNS, SYNWO, SYNWF, SYNMAX, SYNMIN