IAI RA Series, Instruction Manual

Page: 103 / 186

4. Operation Program
95
z
XCTM (extension motion control axis individual electronic CAM (time specification) move)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XCTM Slave axis No. Variable No. PE
[Function] Perform movement according to electronic CAM table using the drive disabled axes
(virtual master) specified in operand 1 as the master axis. Moving time, electronic CAM
table numbers, and other individual electronic CAM movement settings are made by
consecutive 5 variables from variable No. n specified in operand 2. The output is turned
off at the command start and on when the movement is completed.
„
Operand 2: Individual electronic CAM movement setting
Variable No. Data Description
n
Electronic CAM table number
n + 1 Moving time In units of 1ms
n + 2
Stroke length of slave axis
storage position number
* Specify position number of slave
axis controlled by extension motion
control board (0 to maximum
position No.)
n + 3 Reserved Set 0.
n + 4 Reserved Set 0.
Stroke length of slave axis is set to position data of slave axes.
When “Position Data > 0”, movement will be made to the same direction as the signal of
displacement, and when “Position Data < 0”, movement will be made to the direction
opposite the signal of displacement.
Electronic CAM table number (n)
Stroke length of
slave axis
(n+2)
Moving time (n+1)
ME0364-2B