IAI RA Series, Инструкция по эксплуатации

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4. Operation Program
107
4.6.2. Electronic Shaft Synchronizing Operation
[Condition]
Master axis Extension motion control axis No.0
Slave axis Extension motion control axis No.1, 2, 3
Shaft gear ratio 1 : 1
[Program example]
VEL 250 Set 100 mm/s for speed.
ACC 0.3 Set 0.1G for acceleration.
DCL 0.3 Set 0.1G for deceleration.
XAXS 00000000 00001111 It indicates Extension Motion Control Axis No. 0 to
3.
XSON It turns on the servo on the indicated axis.
XMVP 0 It makes PTP movement operation to the start
position (Position No. 0).
WTON 10 It makes wait for Input Port No. 10 to turn on.
LET 50 1 Master axis type = Extension motion control axis
LET 51 0 Master axis: Extension Motion Control Axis No. 0
LET 52 1 Gear ratio numerator = 1
LET 53 1 Gear ratio denominator = 1
XSFS 1 50 It makes the electronic shaft synchronizing started
(Axis No. 1).
XSFS 2 50 It makes the electronic shaft synchronizing started
(Axis No. 2).
XSFS 3 50 It makes the electronic shaft synchronizing started
(Axis No. 3).
XAXS 00000000 00000001 It indicates Extension Motion Control Axis No. 0.
XMVP 1 It makes PTP movement operation to Position No.
1.
WTON 11 It makes wait for Input Port No. 11 to turn on.
XMVP 2 It makes PTP movement operation to Position No.
2.
WTON 12 It makes wait for Input Port No. 12 to turn on.
XSYE 1 It makes the e synchronizing operation finished
(Axis No. 1).
XSYE 2 It makes the e synchronizing operation finished
(Axis No. 2).
XSYE 3 It makes the e synchronizing operation finished
(Axis No. 3).
XAXS 00000000 00001111 It indicates Extension Motion Control Axis No. 0 to
3.
XMVP 3 It makes PTP movement operation to the position
after complete (Position No. 3).
EXIT End the program.
ME0364-2B