IAI RA Series, Instruction Manual

Page: 157 / 186

6. Parameter Detail
149
Max. Number of
Extension Motion
Control Axes
Max. Number of Position
Data per Axis
Max. Number of
Extension Motion
Control Axes
Max. Number of Position
Data per Axis
0 512 16 240
1 512 17 227
2 512 18 215
3 512 19 204
4 512 20 195
5 512 21 186
6 512 22 178
7 512 23 170
8 455 24 163
9 409 25 157
10 372 26 151
11 341 27 146
12 315 28 141
13 292 29 136
14 273 30 132
15 256 31 128
[2] Extension Motion Control Synchronizing Command Master Axis Position Type (I/O Parameter
No.533)
No. Parameter Name Unit Input range
Initial value
(reference)
533 Extension Motion Control Synchronizing Command
Master Axis Position Type
- 0 to FFFFFFFF
H
00000000
H
Select the type of the master axis position that the slave axes track when having a
synchronizing operation with a standard motion control axis as the master axis. Set the types
with four bytes each from Axis No. 1 in order from the low-order bit. The type available for
indicate should be either 0 (current command position) or 1 (current position), and all the axes
are set to 0 (current command position) at the delivery.
Setting
value
Contents
0
Current value command
1
Current position
Example :
Setting value
= 00000011
H
→ Synchronize to the “current position” when Axis No. 1
or 2 to is set as the synchronizing master axis
Synchronize to the “current command position” when
Axis No. 3 to 8 to is set as the synchronizing master
axis
When set to 0, the slave axes will make a synchronizing operation to the current command
position of the master axis. In this case, delay can be reduced in tracking of the slave axes to
the master axis position.
When set to 1, a synchronizing operation will be made to the current position (feedback
value) of the master axis position. It enables to have a synchronizing operation with checking
the current position of the master axis, but as the command to the applicable slave axis
position will be output after the master axis reaches the current position, there will be a delay
in the tracking of the slave axis position to the master position.
Select the suitable type considering the control specifications of the constructed equipment.
ME0364-2B