IAI America XSEL-S - Manual (Page 282)

Chapter 5 Special Functions
5.3.2 How to
Absolute Reset on Synchronizing
Type
274
[5] Method for Combination of Absolute Type and Incremental Type
Described below is the steps when master axis = 1 and slave axis = 0 in “Each Axis
Parameter No. 38 Encoder ABS/INC Type”.
After completing 8.5.2, “Position Adjustment of Synchro-Axis Sliders,” perform an absolute
reset for the master axis only. For the operation procedure, refer to the operation manual for
the XSEL Controller or PC software. [Refer to 4.2.1 How to Conduct Absolute Reset on Single
and Cartesian Axes]
(Note) On the synchronized axes that the normal absolute reset was conducted only on the
master axis, there is no such function to correct the misalignment of a slider while the
power is OFF even after the servo is turned ON.
[6] Notes on Use of the Synchro Function
• As a rule, the synchro function must be implemented by coupling the master-axis and
slave-axis sliders using a bracket, etc.
• If the current positions of the master axis and slave axis are not in the right points when the
servo is turned ON, an automatic correction can be made with slow speed.
�
The slave-axis slider will move to the displayed coordinate position of the master-axis slider
in a fine-drive mode.�
• With a system subject to a relatively large positional shift while the servo power is turned For
the systems with the misalignment comparatively big while the servo is off, make sure to
acquire the current positions of the master axis and slave axes with PRDQ Command and
wait for the current positions of the slave axes and the master slave till it gets in the
tolerance of +/-0.3mm after the servo is turned off before making an operational command.
�
(Reference program)
This program reads the current positions of the master axis and slave axis after the servo is
turned on, and turns ON global flag 600 when the distance between the two axes becomes 0.3
mm or less. Make an operational command after No. 600 is turned on.
SVON 1 Turn ON the servos of the synchro axe
BTOF 600 Turn OFF flag 600.
LET 100 1.000 Assign 1 (or any value larger than 0.2) to variable
100.
DWGT 100 0.300 End the loop when the value in variable 100 becomes
0.3 or less (= when the distance between the master
axis and the slave axis becomes 0.3 mm or less).
PRDQ 1 100 Assign the current position of the master axis to
variable 100.
PRDQ 2 101 Assign the current position of the slave axis to
variable 101.
SUB 100 *101 Subtract the value in variable 101 from the value in
variable 100.
IFLT 100 0.000 If the result is a negative value,
MULT 100 –1.000 Multiply the result by – 1 to convert it to a positive
value.
EDIF
EDDO
BTON 600 Turn ON flag 600.
EXIT