IAI America XSEL-S - Manual (Page 136)

Chapter 3 Programs
128
z XSFS (extension motion control board electronic shaft 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 XSFS Slave axis No. Variable No. PE
[Function] Start synchronous movement according to the master axis using slave axes set by operand 1.
The master axis and other electronic shaft movement settings are specified in consecutive 4
variables from variable No. n selected by operand 2. The output part is turned on at
synchronization start.
„ Operand 2: Electronic shaft operation setting
Variable No. Settings Remarks
n
Main axis type 0: Main CPU control axis
1: Extension motion control board
control axis
2: Pulse input channel
n + 1
Main axis number x Main CPU control axis 1 to 6
x Extension motion control board
control axis 0 to 15
x Pulse input channel 0 to 3
n + 2 Gear ratio numerator -10000 to 1, 1 to 10000
n + 3 Gear ratio denominator 1 to 10000
Synchronous movement continues until:
[1] The XSYE command is executed (synchronous movement is stopped).
[2] Operation of slave axes is stopped by the XSTP/CANC command.
[3] The slave axis movement program that executed the XSFS command is terminated.
If a negative value is set for gear ratio, slave axes move in the opposite direction to the
master axis.
Caution:
If there are any errors in synchronous electronic CAM movement settings, which are specified in
variables of operand 2, error No. 457 “Extension motion board electronic shaft movement setting error”
occurs. Info.2 of the error list indicates the variable number of the invalid setting (hexadecimal display).
x Invalid variable: Master axis No.
- Specified master axis number is invalid or invalid.
- Specified master axis is a synchronized-controlled slave axis or ZR unit axis (in case the
master axis is an X-SEL control axis).
- The specified master axis and slave axis are the same axis (in case the master axis is a
extension motion control board control axis).
- The specified master axis is an axis or channel of a extension motion control board
different from slave axes (in case the master axes is a extension motion control board
control axis or pulse input channel)