CMD Command Reference

The Commander core provides four high-speed synchronization outputs. This feature allows the controller to perform a high-speed comparison between the encoder or pulse position counter and a set condition (comparator), which is set with the SYNP[axis] command.  When the condition is met, the corresponding synchronization output is enabled. The timing between the condition being met and the synchronization output being triggered is 150 to 200ns.

There are three modes for the synchronization outputs to be enabled, which can be set with the SYNC[axis] command:

1. At position mode (counter = comparator)
2. > or < position mode (counter is either > or < than the comparator)
3. Continuous mode (every comparator position)

For continuous mode, and at position mode, the output can be output in both directions, or limited to only one direction (positive or negative) of movement.  

For > or < position mode, you can select only Counter > Comparator or Counter < Comparator.

Each axis has a designated high-speed synchronization output.  While synchronization output is enabled for an axis, the corresponding digital output cannot be manually controlled by the user.  See corresponding synchronization output for each axis in table synchronization output below.

Synchronization output

Use the SYNO[axis] command to enable and the SYNF[axis] command to disable the synchronization feature.  To read the synchronization status, use the synchronization status SYNS[axis] command (2-bit).

The black dots indicate the command is available on the listed controller family.