SM-Applications Modules & Motion Processors User Guide 107
Issue Number: 4
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Introduction Installation
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10.3 Inter-option Synchronization example 2
In this example CTSync will be needed, please check for the availability of CTSync for
your module in the Features section on pages 8, 9 & 10.
This example shows a scenario where the POS0 tasks of the modules in 2 Unidrive SPs
need to be synchronized.
For this to work a module on each drive needs to be configured to participate in the
CTSync scheme (refer to section 9 CTSync on page 97 for more information). One
module must be configured as the CTSync Master and one module configured as the
CTSync Slave.
The following tables show the settings for each of the 6 modules:
Table 10-2 Parameter Settings for Unidrive SP 1
Parameter Value Description
Slot 1
Pr
81.06 1 (default) Not in CTSync scheme
Pr
81.12 2 500 µs position control task period
Pr
91.21 2 Inter-Option Sync Consumer
Pr
91.22 6
Inter-Option Sync Consumer status
achieved
Slot 2
Pr
81.06 1 (default) Not in CTSync
Pr
81.12 1 250 µs position control task period
Pr
91.21 2 Inter-Option Sync Consumer
Pr
91.22 6
Inter-Option Sync Consumer status
achieved
Slot 3
Pr
81.06 25 (default) CTSync Master
Pr
81.12 3 1 ms position control task period
Pr
91.21 1 Inter-Option Sync Producer
Pr
91.22 5
Inter-Option Sync Producer status
achieved
Table 10-3 Parameter Settings for Unidrive SP 2
Parameter Value Description
Slot 1
Pr
81.06 1 (default) Not in CTSync scheme
Pr
81.12 2 500 µs position control task period
Pr
91.21 2 Inter-Option Sync Consumer
Pr
91.22 6
Inter-Option Sync Consumer status
achieved
Slot 2
Pr
81.06 26 CTSync Slave
Pr
81.12 3 1 ms position control task period
Pr
91.21 1 Inter-Option Sync Producer
Pr
91.22 13
Inter-Option Sync Producer status
achieved with DINT signal
Slot 3
Pr
81.06 1 (default) Not in CTSync scheme
Pr
81.12 4 2 ms position control task period
Pr
91.21 2 Inter-Option Sync Consumer
Pr
91.22 2
Inter-Option Sync Consumer status
not achieved (POS task too slow)
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