IAI America XSEL-S - Manual (Page 57)

Chapter 2 Operations
49
Caution:
(1) Axes specified as slaves to the extension motion control board operate with operation commands by
the extension motion control board axis only. If the main CPU axis is instructed to operate, it is
treated as an invalid axis and error No. C7F “no valid axis error” occurs.
Set the resolution of the drive disabled axes with the following parameters in the same manner as
normal axes.
(2) Set extension motion control board output channel parameters No. 5 to 8, 10 to 14, and 16 according
to the main CPU control axis operating as a slave. [See 2.3.3, " Extension Motion Control Board
Parameter Setting."]
At this point, error No. 52D “Extension motion control board main CPU axis control parameter error”
occurs in the following cases.
 Resolution set with an output channel parameter does not match with resolution of the main CPU
control axis.
 Output channel parameter No. 12 “Maximum speed” exceeds the maximum speed of the main
CPU control axis (parameter for each axis No. 27/28).
 Output channel parameter No. 13 “Maximum acceleration” exceeds the maximum acceleration of
the main CPU control axis (all-axis parameter 22).
 Output channel parameter No. 14 “Maximum deceleration” exceeds the maximum acceleration of
the main CPU control axis (all-axis parameter 23).
(3) The following axes cannot be specified as a slave to the extension motion control board. Error No.
531 “Slave operation parameter error” occurs.
 Rotary Movement Axis Shorter Circuit Control (Parameter for each axis No. 67 “Rotary
movement axis shorter circuit control selection” = 1)
 Endless Stroke Mode (Parameter for each axis No. 68 “Linear movement axis mode selection =
1)
 Synchronous Axis Setting (Parameter for each axis No. 65 “Axis No. with which the synchronous
operation is performed).
* Using the main application firmware version 1.08 or later (XSEL-P/Q), the synchronous
master axis can be specified as a slave to the extension motion control board.
(4) When the synchronous master axis is specified as a slave to the extension motion control board and
the position of the synchronous master axis is greatly different from the slave axis (in the case that
the synchronous axis is not coupled, etc.), Error No. 511 “Extension motion control axis servo
ON/OFF timeout error” might occur because the position synchronizing correction movement is
accompanied when the servo-motor is turned ON. In this case, change the extension motion control
board channel parameter No. 31 “Pulse train driver servo ON completion confirmation time” (set to
“15 seconds” at the delivery) according to the user’s system.
(5) The number of the main CPU control axes which can be specified as a slave to the extension motion
control board using the XSEL-R/S controller, is up to seven per board (All eight axes can not be
specified as slaves). When all eight axes are specified, the error No. 527: Extension motion control
board pulse output setting parameter error will occur. In order to operate all eight axes as slaves, two
extension control boards are required.