IAI America XSEL-S - Manual (Page 103)

Chapter 3 Programs
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(13) In case of CAM shapes with large displacement fluctuation, error No. 472 “Extension motion control
board excessive command acceleration/deceleration error” may occur.
(14) When performing synchronous movement among extension motion control board control axes, the
following differences may result depending on the relationship between the “master axis No.” and
“slave axis No.”
x Master axis No. < slave axis No.
The slave axis moves synchronous with the master axis command position calculated in the same
control period.
x Master axis No. > slave axis No.
The slave axis moves synchronous with the master axis command position calculated in the
previous control period (1 ms).
(15) During synchronous movement, the movement command on the master axis side is completed when
positioning of moving axes is completed in the same way as in normal operations and does not wait
for the convergence of positioning of slave axes (the position complete timing of slave axes is
determined on the RC controller side (by the customer setting)). Check as needed that the position
complete signal input port of slave axes turns on after the movement command is completed on the
master axis side. If no physical axes exist or axis specified as drive invalid is set as the master axis,
slave axes may not have sufficiently converged immediately after completion of movement command
on the master axis side.
Displacement
Phase
Displacement
Phase
Straight line with acute angle
Gradual curve