IAI America XSEL-S - Manual (Page 74)

Chapter 2 Operations
66
(2) Synchronous movement repetition type
For synchronous electronic CAM movement, there are “1 cycle execution” and “repetitive execution,”
and the following is the description of each movement.
[1] 1 cycle execution
While master axis moves back and forth within synchronous start position r stroke range, slave
axis synchronizes to master axis and continues the movement.
Synchronization is ended when the master axis arrives at the position of the base point ± stroke.
Caution: In a control cycle where the master axis arrives at or passes one-cycle stroke, the
difference between the displacement in the last control cycle and the displacement in the
previous control cycle becomes large in case of CAM shape (linear) shown below because
the slave axis is controlled to pass the location corresponding to the end displacement (the
acceleration/deceleration of the slave axis becomes large).
For this reason, depending on the master axis speed at arriving (or passing) the final
phase, errors such as “472: Extension motion control board command
acceleration/deceleration excessive error” may occur. In this case, change the CAM shape
near the final phase to lower the deceleration of the slave axis.
Displacement
S
la
ve
a
xi
s
st
ro
ke
(1
c
yc
le
)
Master axis stroke (1 cycle)
Phase
Synchronous Electronic CAM Movement 1 Cycle Execution
Displacement
O
ne
s
la
ve
a
xi
s c
yc
le
C
on
tro
l c
yc
le
Di
splacement
per
co
nt
ro
l c
yc
le
o
Phase
Control cycle
One slave axis cycle