IAI PSEL, Operation Manual

Page: 1029 / 1062

[27] Electronic Cam Control System
535
Caution
y
If there is a mistake in the single electronic cam operation settings specified in the variables in
Operand 2, Error No. 456 “Extension motion control board single electronic cam operation
settings error” would occur. The variable numbers with an error setting will be shown on the
error list in Info. 2 (in hexadecimal numbers).
y
Variable with an error occurred: Slave stroke length storage position number (Stored
variable)
y
Specified position number is inappropriate or the position data is inefficient.
y
If the robot is equipped with multiple pulse I/O board, the electronic cam table which is stored
to the board that the slave shaft is connected to would be used.
y
During a movement following the electronic cam table, the speed and acceleration/deceleration
may get too high and may cause an error. Change the settings for the moving time and
electronic cam table so they are set to the allowable speed and acceleration/deceleration for
the shaft.
Program Example
LET 200 0 It sets the electronic cam table No. = 0 to Variable No. 200.
LET 201 1000 It sets the movement time 1000ms to Variable 201.
LET 202 0 It sets the slave stroke length storage position No. = 0 to
Variable No. 202.
LET 203 0 It sets 0 to Variable No. 203 (Reserved area)
LET 204 0 It sets 0 to Variable No. 204 (Reserved area)
XAXS 0 1 It specifies the pulse I/O board 0
th
axis.
XSON It turns the pulse I/O board 0
th
axis servo ON.
XHOM It returns the pulse I/O board 0
th
axis to home position.
XCTM 0 200 It starts the single electronic cam operation for the pulse I/O
board 0
th
axis with the single electronic cam operation settings
specified in Variables No. 200 to 204.