IAI RA Series, Instruction Manual

Page: 105 / 186

4. Operation Program
97
z
XSFS (extension motion control axis electronic shaft synchronization start)
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 XSFS
Slave axis
No.
Variable No. PE
[Function] Start synchronous movement according to the master axis using slave axes set by
operand 1. The master axis and other electronic shaft movement settings are specified in
consecutive 4 variables from variable No. n selected by operand 2. The output part is
turned on at synchronization start.
„
Operand 2: Electronic shaft operation setting
Variable
No.
Data Name Description
n
Main axis type
0 : Standard Motion Control Axis
1 : Extension Motion Control Axis
n+1
Main axis number
Gear ratio
numerator
Main axis type (n) Setting Description
0 Axis 1 to 8 (Standard Motion Control Axis)
1 Axis 0 to 31 (Extension Motion Control Axis)
n+2
Main axis type
-9999999 to -1, 1 to 99999999
n+3
Main axis number 1 to 99999999
Synchronous movement continues until:
1) The XSYE command is executed (synchronous movement is stopped).
2) Operation of slave axes is stopped by the XSTP/CANC command.
3) The slave axis movement program that executed the XSFS command is terminated.
If a negative value is set for gear ratio, slave axes move in the opposite direction to the master
axis.
Caution:
(1) If there are any errors in synchronous electronic CAM movement settings, which are
specified in variables of operand 2, error No. 4B6 “Extension motion board electronic shaft
movement setting error” occurs. Info.1 of the error list indicates the variable number of the
invalid setting (hexadecimal display).
• Invalid variable: “Master axis No.” storage variable (N+1)
• Specified master axis number is invalid or invalid.
• Specified master axis is a synchronized -controlled slave axis or ZR unit axis.
• The specified master axis and slave axis are the same axis.
(2) If the master axis type of electronic shaft movement settings is specified to be
standard
motion control axis
, the BASE command settings become valid for the master axis number.
(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. In this case, lower the
speed and/or acceleration of the master axis when the slave axis synchronization
movement is started.
ME0364-2B