4
Example:
This
will
not
run
the
motors
same
time!
Master/Slave
Associated Programs*
Two
VXM
controllers
that
are
bussed
together
can
be
set
to
execute
entire
programs
simultaneously.
The
procedure
to
coordinate
VXM
program
to
VXM
program
is
as
follows:
1.
2.
Transfer
a
program
to
the
Slave
using
“
[ ]
”
Program
associate
the
Master
to
the
Slave
with
the
“
”
command*
PMAx
[i1,i2...]
Send
data
to
Slave
through
the
Master.
=
commands
for
Slave.
Status
requests,
”
R
”,
and
“
”
commands
are
not
allowed.
i1,i2...
NOTE:
Q
PMA
PMA-
PMA255
x
x
Program
associate
program
number
in
Master
to
the
same
program
number
in
the
Slave.
Program
x
in
the
Slave
will
run
the
same
time
when
SURJUDP
[
LQWKH0DVWHULVUXQ
[
Program
associate
all
programs
in
the
Master
to
all
the
programs
in
the
Slave
except
for
program
number
in
the
Slave
will
run
the
same
time
when
a
program
in
the
Master
is
run.
x
=
0,1,2,3,4*
Disable
Master/
Slave
Program
association
(default)
x
.
Programs
numbers
except
x
See
Also
U7, U8, U9, U91, U92,
Appendix D
There
are
special
Excel
spreadsheet
files
on
the
CDROM
to
create
the
VXM
commands
for
producing
sinusoidal
motion,
triangles,
rectangles
with
radius/
chamfer
corners,
and
circles.
NOTE:
(I1M400,I3M800,)R
A
motor
3
or
motor
4
index
command
must
be
before
a
motor
1
or
motor
2
index
for
simultaneous
operation
to
occur.
*
CAUTION:
Motor
3
or
4
commands
should
not
be
used
if
Program
Associate
is
set
to
program
0.
A
Master
uses
the
Slave’s
program
0
memory
space
to
run
a
motor
3
or
4
command
(I3Mx,
I4Mx,
S3Mx,
etc.)
Any
existing
commands
in
the
Slave’s
program
0
will
be
erased
when
running
a
motor
3
or
4
command!
