IAI America XSEL-S - Manual (Page 137)

Chapter 3 Programs
129
Caution
(2) If the master axis type of electronic shaft movement settings is specified to be main CPU control axis,
the BASE command settings become valid for the master axis number.
(3) If the master axis is a pulse input channel, slave axes move regarding one pulse input from the pulse
input channel as 0.001 mm. Set the movement amount of slave axes by gear ratio according to the
application.
(4) If slave axes started synchronization while the master axis is moving, excessive speed and/or
acceleration and deceleration may occur, leading to an error. In this case, lower the speed and/or
acceleration of the master axis when the slave axis synchronization movement is started.
(5) While moving according to the master axis, excessive speed and/or acceleration and deceleration
may occur, leading to an error. In this case, change the speed, acceleration/deceleration, and gear
ratio of the master axis to set speed and acceleration/deceleration permitted to the axis.
(6) The right to use slave axes that started synchronization is owned exclusively by the slave axis
movement program that executed the XSFS command until the XSYE command (stopping
synchronous movement) is executed or the program is finished. For this reason, if the axes are used
by other programs, error No. 449 “Extension motion control board axis duplication error” occurs.
Moreover, error No. 449 occurs even if a movement command is executed on axes that finished
synchronous movement, even in the same program. Execute the XSYE command in order to perform
the next movement after synchronous movement.
(7) In the case of XSEL-R/S, the number of CPU control axes which can be specified to be the main
axes for the synchronous operation with electronic CAM, is up to six. The selection of the axes which
can be specified as the main axes, is available using I/O parameter No. 529 “Axis pattern selection
for the extension motion control board synchronizing main axis”. (Dynamic change is not available).
In the case that the axis which has not selected using the I/O parameter No. 529, is selected as the
main axis with the XSFS order, an error No. 457 “Extension motion control board electronic shaft
operation setting error” occurs.
[Example]
This program is an example of synchronizing operation extension motion control board No. 0 to the main
axis of the main CPU control axis. If there are many shaft axes, it is necessary to perform as many programs
as the number of axes.
LET 200 0 Set “master axis type = 0 (main CPU control axis)” to variable
No. 200.
LET 201 1 Set “master axis No. = 1” to variable No. 201.
LET 202 1 Set “gear ratio numerator = 1” to variable No. 202.
LET 203 50 Set “gear ratio denominator = 50” to variable No. 203.
XSFS 0 200 Electronic shaft synchronous movement of extension motion
control board axis 0 is started with the electronic shaft
movement settings specified in variable No. 200 to 203.
TAG 1
MOVP 2 Move the main CPU control master axis to position No. 2.
MOVP 1 Move the main CPU control master axis to position No. 1.
GOTO 1