IAI RA Series, Instruction Manual

Page: 100 / 186

4. Operation Program
92
Caution
(1) If there are any errors in synchronous electronic CAM movement settings, which are
specified in variables of operand 2, error No. 4B4 “Extension motion control board
synchronous electronic CAM movement setting error” occurs. Info.2 of the error list
indicates the variable number of the invalid setting (hexadecimal display).
When Error Occurred Variable = “Master Axis No.” Stored Variable (n+2);
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Specified master axis number is invalid or invalid.
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Specified master axis is a synchronized-controlled slave axis or ZR unit axis.
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The specified master axis and slave axis are the same axis.
When Error Occurred Variable = “Stroke Length / Stroke End Position Stored Position No.”
Stored Variable (n+5);
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The specified position No. is invalid or position data is invalid.
(2) If the master axis type of synchronous electronic CAM movement settings is specified to
be main CPU control axis, the BASE command settings become valid for the master axis
number. Moreover, the GRP command settings are invalid for position data storing stroke
length and stroke end position.
(3) If slave axes started synchronization while the master axis is moving, excessive speed
and/or acceleration and deceleration may occur, leading to an error. Lower the speed
and/or acceleration of the master axis when the slave axis synchronization movement is
started.
(4) Excessive speed and/or acceleration/deceleration may occur during movement according
to the electric CAM table, leading to an error. In this case, change the speed,
acceleration/deceleration, and electronic CAM tables of the master axis to set speed and
acceleration/deceleration permitted to the axis.
(5) The right to use slave axes that started synchronization is owned exclusively by the slave
axis movement program that executed the XCAS command until the XSYE command
(stopping synchronous movement) is executed or the program is finished. For this reason,
if the axes are used by other programs, error No. 66 “Duplication error” occurs. Moreover,
error No. 66 occurs even if a movement command is executed on axes that finished
synchronous movement, even in the same program. Execute the XSYE command in order
to perform the next movement after synchronous movement.
ME0364-2B