Synchronization of multiple axes in a motor drive

A method for torque sharing between a plurality of axes within a motor drive, the method comprising the steps of:

• generating a cycle start signal with a clock circuit in the motor drive, wherein the cycle start signal repeats at a periodic interval;
• executing a first axis module in the motor drive within a first period responsive to a first cycle start signal;
• generating a first voltage reference with the first axis module for operation of a first motor operatively connected to the motor drive responsive to the first cycle start signal;
• generating either an acceleration reference signal or a torque reference signal with the first axis module for operation of a second motor operatively connected to the motor drive responsive to the first cycle start signal;
• monitoring, by a second axis module in the motor drive, a write access by the first axis module to detect when a shared memory segment has been written to detect when the acceleration reference signal or the torque reference signal is available;
• reading the acceleration reference signal or the torque reference signal generated by the first axis module from the shared memory segment with the second axis module within the first period;
• and
• generating a second voltage reference within the first period for operation of the second motor with the second axis module responsive to receiving the acceleration reference signal or the torque reference signal.

A method for sharing data between a plurality of axes within a motor drive, the method comprising the steps of:

• generating a cycle start signal with a clock circuit in the motor drive, wherein the cycle start signal repeats at a periodic interval;
• executing a first axis module in the motor drive within a first period responsive to a first cycle start signal;
• generating a first voltage reference for operation of a first motor operatively connected to the motor drive with the first axis module responsive to the first cycle start signal;
• generating either an acceleration reference signal or a torque reference signal with the first axis module for operation of a second motor operatively connected to the motor drive responsive to the first cycle start signal;
• generating a signal indicating either the acceleration reference signal or the torque reference signal is available for a second axis module;
• monitoring, by a second axis module in the motor drive, a write access by the first axis module to detect when a shared memory segment has been written to detect when the acceleration reference signal or the torque reference signal is available;
• reading the acceleration reference signal or the torque reference signal from the shared memory segment with the second axis module within the first period;
• and
• generating a second voltage reference with the second axis module within the first period for operation of the second motor with the second axis module responsive to reading the acceleration reference signal of the torque reference signal.