IAI RA Series, Instruction Manual

Page: 96 / 186

4. Operation Program
88
z
XWIP (Wait for extension motion control axis positioning complete status ON)
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 XWIP Prohibited Prohibited CP
[Function] This command waits until the positioning complete signal of the extension motion control
control axis specified by the XAXS or XA16 command is turned ON. By executing this
command on synchronized slave axes after the operation command of the main axis is
completed (*1) during the synchronized operation of electric cam, etc., it is possible to wait
for the positioning complete signal of slave axes still moving. The positioning complete
signal of slave axes is turned ON when the position deviation is equal to or smaller than
positioning complete band; the positioning is not completed unless the pulse command
output to slave axes on the main axis side has been completed.
(*1) The command is completed when the main axis operation command is completed
and pulse output to slave axes is completed.
Caution :
(1) Set axis patterns using the XAXS or XA16 command before executing this command. If the
command has not been executed, error No. 4B3 “No extension motion control board axe pattern
setting error” occurs.
(2) If the positioning complete status would not turn on even after it has passed the time set in
Extension Motion Control Each Axis Parameter No. “Positioning Complete Confirmation Time” in
the indicated axis, Error No. 4C3 “Positioning Complete Timeout Error” will occur.
[Example 1] XCAS 0 10 Start electronic cam synchronization operation of axis 0
(*2).
XCAS 1 20 Start electronic cam synchronization operation of axis 1
(*3).
MOVP 5 Move extension motion control axis 1 to position No. 5.
MOVP 6 Move extension motion control axis 1 to position No. 6.
XAXS 0 11 Set axes 0 and 1 for axis pattern settings.
XWIP Wait until positioning complete signals of axes 0 and 1
are completed (axes 0 and 1 continue synchronization
operation).
MOVP 7 Move extension motion control axis 1 to position No. 7.
*2 It is assumed that electronic cam synchronization operation setting with
extension motion control axis 1 as the main axis is made on variables No. 10
to 19.
*3 It is assumed that electronic cam synchronization operation setting with
extension motion control axis 1 as the main axis is made on variables No. 20
to 29.
ME0364-2B