Yaskawa FSP Amplifier FlexWorks User Manual
Page 163
Command Reference
163
S
YNTAX
A
RGUMENTS
distance
Specifies the offset from master encoder.
The command adds
Target_position.
[as per electronic gear (See section 12.1.)]
Serial 4 V
E
XAMPLE
SET_ZERO_POSITION Demand_Position
MOVE_R 0
WAIT_VAR Follower_synchronized = 1
MOVE_R 350
WAIT_VAR Position_demand_value >= 6000
STOP_EX Emergency Servo ON
END
E
XAMPLE
E
XPLANATION
MOVE_R 0 - Motor starts responding to an input pulse
train. When the motor is synchronized to master, a relative
motion of 350 units starts. When the motor has moved a
total of 6000 user units it stops.
N
OTES
1. Movement profiles are according to the Command
profile you set. Make sure that the profile velocity (See
section 12.2.1.) is greater than that of the master encoder
and that the profile acceleration (See section 12.2.2.) is
sufficient to follow it. If the profile velocity (See section
12.2.1.) is less than that of the master encoder, the axes
can be never synchronized.
2. Speed and acceleration can be changed during motion.
The jerk value used at the beginning of the motion remains
in effect as long as motion mode is Pulse Train Input. Use
the STOP_EX command to change the motion mode.
3. The deceleration for the end of synchronization uses the
profile acceleration.
4. If a filter on command is set (Jerk (Pn2A6) or smooth
factor (Pn216)) the motor will lag after the master encoder
according to the value of the filter.
5. For information on using New_move_enable to enable
faster execution of the MOVE_R command, see Section