IAI America XSEL-S - Manual (Page 138)

Chapter 3 Programs
130
z XSYE (extension motion control board synchronous movement end)
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 XSYE Slave axis No. (End type) PE
[Function] End synchronous movement of slave axes specified in operand 1. This command is valid for
slave axes performing synchronous electronic CAM (master axis specified) synchronous
movements (XCAS command) or electronic shaft synchronous movements (XSFS command)
that were started on the same program. If other axes are specified, error No. 444 “Extension
motion control board axis No. error” occurs.
It is possible to specify end type by operand 2. If you specify 0 or omit the specification,
synchronous movement is stopped. If you specify 1, the program waits for the completion of
synchronous movement. This setting is used to wait for completion of slave axes performing
synchronous movement by setting “synchronization type = move single cycle only” with the
XCAS command or to wait for synchronous movement to be stopped by the XSTP command
from other programs.
The output part is turned on when the end type is set to 1 (wait for end of synchronous
movement) and slave axe moving synchronization type of “move single cycle only” finishes
moving one cycle.
„ Operand 2: End type
0 or omitted: Stop and end synchronous movement
1: Wait for end of synchronous movement
Caution
(1) f you set end type to be “end stopping synchronous movement,” only the synchronous movement is
ended and completion of slave axis positioning (position complete signal of slave driver) is not
checked. When the completion of slave axis positioning is to be waited, after XSYE command has
been executed, wait and confirm with WTON command that the positioning completion single input
port is turned ON with the XWIP command.
(2) Since the right to use the axes is released by the execution of this command, slave axes engaged in
synchronous movement can be used by other programs.