IAI RA Series, Инструкция по эксплуатации

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1. Outline of Extension Motion Control Feature
10
1.1. Supportive Operations
The extension motion control axes are basically available for operations only with the SEL
commands dedicated for the extension motion control (such as XMVP, XMVL, etc.).
Operation cannot be made with the SEL commands for the standard motion control (such as
MOVP, MOVL, PATH, etc.).
In this section, explains the outline of operation available to command to the extension motion
control axes.
The extension motion control feature mainly supports two types of functions as follows.
* Controllers for SCARA Robot are not available to use (2) Synchronization Control Function.
(1) Positioner Function
(2) Synchronization Control Function
In (1) Positioner Function, it is available to perform positioning to the target position with the
position data set in advance. It is available to have a single-axis actuator perform positioning on
several points and to have Cartesian combination unit axes perform linear interpolation operation.
Also, the number of position data available to use in one axis varies depending on the total
number of the extension motion control axes to be used. For example, if the number of axes in
use is eight, 512 points of position data are available for one axis, and if 32 axes (max. number of
axes) are in use, 128 points are available.
Figure : Example for two-point positioning of
slider
Figure : Example for linear interpolation operation by X
and Y combination unit
[Reference]
The position data for the extension motion control axes is to be stored in the domain called
“User Data Retaining Memory (“UBM” in short)”. The position data will be retained even when
the power to the controller is turned off.
Also, it is not necessary for flash ROM writing in order to save the position data.
ME0364-2B