CANopen have a special sync message which is used for synchronization. You probably want cyclic synchronization communication, messages are sent anywhere within communication period and start to be used then synchronization message is sent. Synchronization message may have som jitter, it does not interrupt a message currently being sent but have hight priority so it will be sent before other messages with lower priority, not sure if it may be time stamped to increase accuracy if needed.
With cyclic communication receiver know then message is expected and may turn off motor if not received as expected, for example if cable is removed. CAN bus have small messages which is usually a good choice for real time since it is common messages are small but need to be sent often. > An off topic question, not directly LinuxCNC related... > > How are motors on a serial bus controlled and synchronised? > > My only real control experience is with LinuxCNC with Mesa and parallel port > hardware where commands and feedback and precisely timed. Sending commands > and receiving feedback over a serial link I would expect to cause > synchronising problems, and the bandwidth would reduce the update rate. > > How are these issues handled? I tried googling this, but didn't find much - > I wasn't sure what to search for. > > Thanks, > Frank _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
