IAI America XSEL-S - Manual (Page 104)

Chapter 3 Programs
96
(16) The actual stop position may fluctuate approximately ±1 pulse from the target position depending on
the encoder resolution (mm/pulse) of the master axis. Moreover, the current position may exceed the
target position momentarily due to overshoot, etc. Please take the following points into consideration.
z If you perform synchronous movement by setting “the master axis reaching the specified
synchronization start point” or “execute single cycle only” as the synchronization type, shift the
target position back and forth such that the master axis arrives at (or passes) the synchronization
start/end position without fail.
(Note) If you perform the movement such that the master axis passes the synchronization start
position without fail, try to execute the synchronization start instruction considering the
synchronization type as "immediate" after the movement to the synchronization start
position is completed.
[1] Moving to the direction of synchronization end position after moving from a position between
synchronization start and end positions to the synchronization start position
[2] Moving from a position before synchronization start position to synchronization start position
Synchronization start position Synchronization end position
Movement 2
Movement 1
Master axis position
Target position Current position
Synchronization start position Synchronization end position
Master axis position
Current position Target position
Movement