6 SM-Applications Modules & Motion Processors User Guide
Issue Number: 4
9 CTSync .................................................................................97
9.1 Overview ...............................................................................................97
9.2 Connections ..........................................................................................97
9.3 Limitations .............................................................................................98
9.4 CTSync Function Blocks .......................................................................98
9.5 Motion Engine .......................................................................................99
9.6 Virtual Master Example .......................................................................102
10 Inter-option Synchronization ..........................................104
10.1 Overview .............................................................................................104
10.2 Inter-Option Synchronization example 1 .............................................104
10.3 Inter-option Synchronization example 2 ..............................................107
10.4 Position control tasks ..........................................................................111
11 Diagnostics ......................................................................112
11.1 Run-time Errors ...................................................................................112
11.2 Drive Display Trip Codes .....................................................................112
11.3 Second Processor Run-time Error Codes ...........................................113
11.4 Handling Run-Time Errors with the ERROR task ................................115
11.5 Resource monitoring ...........................................................................116
11.6 Support ................................................................................................118
12 Migration Guide ...............................................................119
12.1 Drive Parameter Differences ...............................................................119
12.2 UD70 Parameters ................................................................................119
12.3 General Features ................................................................................121
12.4 Second Processor Porting aid ............................................................122
13 Quick Reference ..............................................................124
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