ElmoMC CANopen DSP 402 Implementation Guide - Manual (Page 99)

12.3.3 Motion Synchronization
The IP mode enables the synchronized motion of multiple axes. The motions of several
slave axes are synchronized if they all run IP, and they all being the IP at the same time.
Synchronization can proceed continuously using the SYNC-Time stamp mechanism.
In order to start several axes synchronously, map the controlword to a synchronous RPDO,
and then use the mapped controlword to enable interpolation for all axes. Nothing will
happen until the next SYNC. Then, all drives will enable interpolated motion at once,
setting the SYNC arrival time as the “zero” time of the path specification.
If the axes have been previously synchronized by SYNCs and Time stamps, the moving
axes will be relatively synchronized to the precision of microseconds.
CANopen DSP 402 Implementation Guide
MAN-CAN402IG (Ver. 1.2)
93