IAI America XSEL-S - Manual (Page 101)

Chapter 3 Programs
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Chapter 3 Programs
3.1 Precautions when Creating Programs
3.1.1 Pausing
(1) The HOLD command is valid for axes of extension motion control boards, but the servo is not turned
off even if servo OFF type is specified.
(2) During synchronous movement of electronic CAM, etc. setting the main CPU control axis as the
master axis, the master axis cannot be paused by the servo OFF type HOLD command. Master and
slave axis error No. 461 “Extension motion control board synchronization master axis serve OFF
error” occurs.
(3) During synchronous movement of electronic CAM, etc. setting the master axis as a pulse input
channel, slave axes cannot be paused. They pause but error No. 462 “Extension motion control
board synchronization slave axis restart error” occurs after the pause is cancelled (because
synchronization cannot be continued).
When slave axes perform synchronization with a program different from the program for moving the
master axis, if you pause the slave side program at the HOLD command, the master axis pauses at
the same time. If the master axis performs PTP operation, however, other axes operating together
with the master axes do not stop. If you want to pause axes operating together with the master axis
as well, pause them using the HOLD command of the master axis side program.
3.1.2 Synchronous Movement of Electronic CAM, etc.
(1) It is not allowed to specify synchronous axis or ZR unit as the master axis of electronic CAM or
electronic shaft.
(2) If you start the controller after changing electronic CAM table area assignment parameters, the
electronic CAM table data is initialized and error No. 51C “Extension motion control board electronic
CAM table size inconsistent error” occurs. The controller starts normally by restarting the controller
after writing the electronic CAM tables to the Flash ROM. Save the electronic CAM tables to files as
required before changing the electronic CAM table area assignment parameters .
(3) If the master axis resolution is too low for slave axes at electronic CAM synchronous movement, the
speed may become uneven.
(4) The control between extension motion control boards and each pulse train control driver is open loop.
The intended trajectory may not be drawn depending on the mechanical load, sliding friction, etc. of
the control target axis. Moreover, the master axis keeps on operating according to the given
operation plan unless slave axes stop due to alarm.
(5) If you perform synchronous movement, it is necessary to specify speed, acceleration, and
deceleration of the master axis such that the speed, acceleration, and deceleration of slave axes at
actual operation do not exceed the maximum speed, acceleration, and deceleration.
(6) If the resolution of the master axis is lower than the resolution of slave axes, error No. 471 “Extension
motion control board excessive command speed error,” error No. 472 “Extension motion control
board excessive command acceleration/deceleration error,” error No. 473 "Extension motion control
board servo command position software limit over error” may occur.