A video showing two servo motors being controlled independently & synchronized over RS485 based field bus. A small custom C++ software is generating the trajectory points independently for each axis and feeding the points to servo drive command buffers. Drives execute commands from buffer based on their internal clock yielding gapless and smooth motion even when PC is under load.
Both axis are fed 1250 position commands per second and tracking error value is read back at same rate and displayed on the PC screen. The software has a buffer monitor widget that shows how much data drive buffer currently has. Everything is fine as long as buffer doesn’t go empty which would cause a break in motion.
The app has merely 200 lines of code. I’m planning to extend it to run G-code after Argon drives are out.