Synchronizing multiple axes with MCP-1200s can be achieved by using the SYNC pin with the same clock. Some users may not only want to synchronize several MCP-1200s but also follow custom profiles for each axis. To do this, the user may need to write a new command position or command velocity during each sample time for the duration of the profile. In this case, data written to the MCP-1200 has to be coordinated with the Sample Timer. This is so that only one command position or velocity is received during any one-sample period, and that it is written at the proper time within a sample period.
At the beginning of each sample period, the MCP-1200 is performing calculations and executions. New command positions and velocities should not be written to the MCP-1200 during this time. The BUSY flag should be used to synchronize the timing of each sample period.
Sync Pin Description
The SYNC pin is used to synchronize two or more MCP-1200s. It is only valid while in IDLE mode. When this pin is pulled low, the internal sample timer is cleared and held to zero. When the level on the pin is returned to high, the internal sample timer instantly starts counting down from the programmed value. To maintain synchronization, all chips should have the same sample timer value and ideally run from the same external clock. When this is not possible the timer may be off by the different clock phases relative to each other. However, it should still be adequate in synchronizing the much slower period of the sample timer counter.
Connecting all SYNC pins together in the system and pulsing the SYNC signal from the host processor while in Idle mode will synchronize all MCP-1200 sample timer counters.