IAI RA Series, Instruction Manual

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4. Operation Program
37
Caution :
(1) If the position data’s position complete band is valid, the corresponding program exclusively
holds the right to use axes until the XPED command is executed after executing the
positioning command, the positioning command is executed by invalidating the position
complete band, or until the program is ended. For this reason, if other programs attempt to
use the axes, error No. C66 “Duplication error” occurs.
(2) Even if the position data positioning complete band is enabled (setting of 0.001 mm or
greater), operation of a given axis is completed with the movement command from the
completed and the PSET status and turning ON of the INP signal. For this reason, tact time
is not shortened even if positioning complete band is set if the given axis is operated
continuously.
(3) If the position data position complete band is valid, it is not allowed to execute the
synchronization start commands (XCAS and XSFS) on the same axes after the execution of
the positioning command; error No. C66 “Duplication error” occurs. Execute the XPED
command before executing the synchronization start command and wait for the completion
of operation.
4.2.4. Actuator Control Commands
The VEL, VLMX, ACC, and DCL commands are valid for axes of extension motion control
boards as well. They are effective as speed, acceleration, deceleration of each axis at PTP
operation if they are not set with position data. The commands must be executed in case of CP
operation (settings by position data are invalid) and they are operated as the speed,
acceleration, and deceleration for interpolated trajectory.
Moreover, the OVRD, SCRV, HOLD, and CANC commands are valid for extension motion
control boards.
ME0364-2B