IAI America XSEL-S - Manual (Page 102)

Chapter 3 Programs
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(7) If you start synchronous movement on the running master axis, error No. 472 “Extension motion
control board excessive command acceleration/deceleration error” may occur.
(8) If you perform synchronous movement near the software limit, error No. 473 “Extension motion
control board servo command position software limit over error” may occur.
(9) If you enable safety speed when slave axes are operating at speed exceeding the safety speed, error
No. 471 “Extension motion control board excessive command speed error” may occur.
(10) If the command pulse counter value exceeds the range of -2,147,482,624 to 2,147,482,623 during
synchronous movement, error No. 49A “Extension motion control board command pulse counter over
error” occurs.
(11) After synchronous movement is completed, slave axes decelerate and stop at the deceleration set
with extension motion control board output channel parameter No. 15 “deceleration at synchronous
movement completion.” For this reason, slave axes stop at positions, away from the position at
synchronous movement completion for the deceleration distance.
(12) If you start synchronization to a running master axis, acceleration of slave axes may become
excessive depending on the CAM shape and error No. 472 “Extension motion control board
excessive command acceleration/deceleration error” may occur.
Speed
Synchronous movement
Deceleration
and stop
Deceleration
distance
Time
Synchronous movement start Synchronous movement completion
Time
Time
Synchronization start
Acceleration
Master
axis
Slave
axis