EPOS2 Application Notes Collection - Maxon Motor

Interpolated Position Mode
In Detail
6.2.4 SYNC Time Stamp Mechanism
Can be used to synchronize the motion clock of the drive with a master clock in the network.
Figure 6-55
Interpolated Position Mode – Clock Synchronization
The synchronisation method is similar to IEEE 1588 and uses the CANopen CiA 301 SYNC Service
(COB-Id 0x80) and “High Resolution Time Stamp” on page 6-81.
The SYNC Frame will be transmitted periodically by the SYNC master. The exact transmitting time
(Tm1) may be stored by latching an internal 1 us timer. The reception time (Td1) of the SYNC message
will be stored by latching the device-internal motion clock timer. As a follow-up, the measured transmitting
time (Tm1) will be sent to the drive using the High Resolution Time Stamp. The device then adjusts
its internal motion clock time in relation to the time latched in the last SYNC.
By sending a CANopen CiA 301 TIME Service (by default COB-Id 0x100, or defined as to “COB-ID
Time Stamp Object” on page 6-81), the device-internal motion clock timer can be reset to “0”.
maxon motor control
6-76 Document ID: rel3956 EPOS2 Positioning Controllers
Edition: April 2013
EPOS2 Application Notes Collection
© 2013 maxon motor. Subject to change without prior notice.