Element Synchronization

Element Synchronization

In the AMCS system there are several ways how to synchronize different elements (axes, groups, robots).

• several axes - combining in a group or using syncstart feature
• mixed axes, groups, robots - using syncstart feature
• robot and an axis - moving frame (conveyor tracking)

There are two types of synchronizations available

• SyncStart several elements(axes, groups, robots) start the motion at same moment. However the moment of motion end can be different for every element in the list.

• SyncAll ^new several elements(axes, groups, robots) start and finish the motion together. Means that all elements will start moving together and end moving at same sample.

• 

  SyncStart

• 

  SyncAll

How it works

• 

  SyncStart Object model

• 

  SyncStart Class model

SyncAll

This is new synchronization feature enabling time-synchronization between group of elements (axes,groups,robots) given in arbitrary order. The function synchronizes them in such a way that the starting moment of motion is same for all the given elements and that the finishing moment of movement is same for all the given elements.

It can e seen as a generalization of MOVE <group> command where all axes of a group are synchronized in one motion together. In SyncAll <list> command all elements of a list are synchronized in one motion together.

Here the analogy ends, while in MOVE we have phase-synchronization in SyncAll we just have time-synchronization. Also in MOVE command axes must be a part of a predefined group while in SyncAll command there is nothing that need to be previously defined/declared.

This can be summarized with the following table:

See Also

• SOWEMA
• SyncStart
• SyncAll
• SyncClear