IAI RA Series, Инструкция по эксплуатации

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4. Operation Program
110
(4)
If the synchronous movement is performed close to the software limit for the slave axes, an Error
No. 4B4 “Synchronization Servo Command Position Soft Limit Over Error” might occur. This error
occurs under the circumstance that the axes would not stop within the software limit even when
they are decelerated at the specified “Deceleration Speed at Synchronous Movement
Completion” and stopped, if the axes are operated continuously.
(5)
When the safety speed is changed to “Valid”, while the slave axes are moved at the speed
exceeding safety speed, an Error No. 4B8 “Synchronization Command Speed Over Error”
occurs.
(6)
When the displacement or fluctuation of CAM table shape is large, the acceleration of the slave
axes becomes excessive and an Error No. 4B9 “Synchronization Command Speed
Acceleration/Deceleration Over Error” might occur.
4.7.3. Others
(1)
When the multi-axes type controller is connected as a slave, an Error No. 4B0 “Extension Motion
Control Fieldbus Slave Station Command Error Detection” might occur, if the slave axis
servo-motors are turned ON immediately after the XSEL is started up (for example, immediately
after the automatic start program is started up in the AUTO mode). When the subject axis servo
is to be turned ON immediately after the XSEL start-up, delay the axis start-up about 3 seconds
after the XSEL start-up completion, using the TIMW command, to avoid the error.
Speed
Deceleration distance with “deceleration
at synchronous movement completion”
Current command
position
Next command
position
Software limit
Slave axis position
Displacement
Phase
Displacement
Phase
Straight line with acute angle
Gradual curve
ME0364-2B