05-13-2019, 11:16 AM

The synchronization of axes within a coordinate system keeps the commanded positions of the calculated trajectories for all the axes fully synchronized.

If you are asking whether an external disturbance on one motor that creates an error between the commanded position and actual position for that motor also affects the calculations for other motors, the general answer is no. The commanded trajectories are unchanged, and in virtually all cases, the servo control for other motors is unchanged. Synchronization of the actual trajectories is by each motor's servo algorithm continually trying to drive its own position error to zero.

The only exception is when a "cross-coupled" servo algorithm is used. Power PMAC has a built-in cross-coupled servo algorithm for a pair of parallel gantry motors. Part of this algorithm tries to drive the difference between the errors of the two motors to zero.

In Power PMAC, it is also possible for the user to write his own custom multi-motor servo algorithm. But there is no generalized algorithm of this type (beyond parallel gantry) that is useful in many different configurations.

If you are asking whether an external disturbance on one motor that creates an error between the commanded position and actual position for that motor also affects the calculations for other motors, the general answer is no. The commanded trajectories are unchanged, and in virtually all cases, the servo control for other motors is unchanged. Synchronization of the actual trajectories is by each motor's servo algorithm continually trying to drive its own position error to zero.

The only exception is when a "cross-coupled" servo algorithm is used. Power PMAC has a built-in cross-coupled servo algorithm for a pair of parallel gantry motors. Part of this algorithm tries to drive the difference between the errors of the two motors to zero.

In Power PMAC, it is also possible for the user to write his own custom multi-motor servo algorithm. But there is no generalized algorithm of this type (beyond parallel gantry) that is useful in many different configurations.