Hi Wentao,

There are a variety of features that allow you to maintain synchronization between multiple ePWM modules.

The simplest thing if both modules are configured identically is to set 'TBCLKSYNC' in the 'PCLKCR0' register to 0 before initializing the modules, then set it to 1 at the very end to start the modules counting at the same time.

If you want to change values for multiple modules at the same time look at the shadow registers and global load. Most of the key registers are shadowed, so you can setup the next value and have them load at some time (say zero compare). If the timebases are already sync'ed because you started them at the same time, then the register shadow->active updates will also occur synchronously.

thanks for your answer. as you said, the multiple ePWM modules clock can be set up synchronously by 'TBCLKSYNC', and if the cmpa and cmpb runs in immediate mode and the multiple ePWM counter maintains the same at every moment, I wanna to use Software Forced Sync Pulse to synchronize different modules. is it correct?
and assuming that epwm 2 and epwm 6 have to be synchronized and the epwm2 Software Forced Sync Pulse is set up, how to make sure the epwm2synco signal is linked to epwm6? from datasheet, I see EPWMSYNCINSEL Register may help but I don't know how to use it.
regards,
zhang wentao