IAI America XSEL-S - Manual (Page 134)

Chapter 3 Programs
126
z XCTM (extension motion control board individual electronic CAM (time specification) move)
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 XCTM Slave axis No. Variable No. PE
[Function] Perform movement according to electronic CAM table using the drive disabled axes (virtual
master) specified in operand 1 as the master axis. Moving time, electronic CAM table
numbers, and other individual electronic CAM movement settings are made by consecutive 5
variables from variable No. n specified in operand 2. The output is turned off at the command
start and on when the movement is completed.
„ Operand 2: Individual electronic CAM movement setting
Variable No. Data Description
n Electronic CAM table number
n + 1 Moving time In units of 0.001 sec
n + 2
Slave axis stroke length
storage position number
* Specify position number of slave
axis controlled by extension motion
control board (0 to maximum
position No.)
n + 3 Reserved Set 0.
n + 4 Reserved Set 0.
Slave axis stroke length is set to position data of slave axes.
Axes move to the coordinate positive direction when the slave axis stroke length is a
positive coordinate value and to the negative direction when the stroke length is a negative
coordinate value.
Caution:
(1) If there are any errors in individual electronic CAM movement settings, which are specified in
variables of operand 2, error No. 456 “Extension motion control board individual electronic CAM
movement setting error” occurs. Info.2 of the error list indicates the variable number of the invalid
setting (hexadecimal display).
x Invalid variable: Slave axis stroke length storage position number (storage variable)
- Specified position number is invalid or position data is invalid.
(2) If multiple extension motion control boards are installed, data stored on the board side which is
connected to slave axes is used for electronic CAM.
(3) While moving according to electronic CAM tables, excessive speed and/or acceleration and
deceleration may occur, leading to an error. In this case, change the moving time and/or electronic
CAM tables to set speed and acceleration/deceleration permitted to the axis.