The synchronizing of loosely coupled distributed real time system

In this paper the control architecture and the characteristics of the synchronization of an industrial application are presented. The control procedure is implemented with a loosely coupled distributed real time system, where parallel processing is possible. There are five nodes in the network, one master actuator, three slave actuators and a machine controller. All nodes are implemented using Motorola´s 68332 controller. The position and velocity of the master are transmitted as a command to slaves. The network protocol used is CAN (controlled area network). On-line correction and synchronization are done through a serial based network. In this paper synchronization methods, characteristics of CAN, control architecture electronics used are introduced