IAI America XSEL-S - Manual (Page 129)

Chapter 3 Programs
121
z XCAS (extension motion control board axis synchronous electronic CAM (master axis specification)
synchronization start)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command,
declaration
Operand 1 Operand 2
Output part
operation type
(output/flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XCAS Slave axis No. Variable No. PE
[Function] Start synchronous movement according to electronic CAM table, using axes specified in
operand 1 as slave axes. Synchronous electronic CAM movement settings including master
axis for electronic CAM tables, etc. are specified in 10 consecutive variables from variable No.
n specified in operand 2. The output part is turned on at synchronization start.
This also applies to settings of drive disabled axes (virtual axis). Make the setting as if there is
an actual main axis
Caution : See the (15) XCTM command when the main axis is a drive disabled axes (virtual master).
„ Operand 2: Synchronous electronic CAM movement setting
Variable No. Data name Description
n Synchronization type See the table below.
n + 1 Master axis type
0: Main CPU control axis
1: Extension motion control board control axis
2: Pulse input channel
Master axis type (n + 1) Main axis No. setting range
0
XSEL-P/Q Axis 1 to 6 (Main CPU control axis)
XSEL-R/S Axis 1 to 8 (Main CPU control axis)
1
Axis 0 to 15 (Extension motion control board
control axis)
n + 2 Master axis No.
2 Channels 0 to 3 (Pulse input channel)
n + 3 Electronic CAM table No. * 0 ~
n + 4 Stroke type
0: Master axis stroke length specification
1: Master axis end position specification
Stroke type
(n + 4)
Master
axis type
(n + 1)
0
Master axis stroke length storage position No.
(Note) Specify position No. of main CPU control
master axis
(0 to maximum position No.)
1
Master axis stroke length storage position No.
(Note) Specify position No. of extension motion
control board control master axis (0 to
maximum position No.)
0
2 Master axis stroke length (pulse unit)
0
Master axis stroke end position storage position
No.
(Note) Specify position No. of main CPU control
master axis (0 to maximum position No.)
1
Master axis stroke end position storage position
No.
(Note) Specify position No. of extension motion
control board control master axis (0 to
maximum position No.)
n + 5
Master axis stroke
length/stroke end position
(storage position No.)
1
2 Master axis stroke end position (pulse unit)