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Command Details
Section 6-3
• If Slave axis name is omitted in ADDAXR command, all the superimposi-
tion being executed in the same motion task will be cancelled.
• ADDAXR command execution will be completed when superimposition is
cancelled.
• During the command execution, the command code “0019h” is output to
the system variable “Command execution status” (SW0228 for Axis 1).
(For details of command codes, see
Code in Command Execution Status
Caution
When a command that has waiting conditions such as Stop Mode is executed
on the slave axis, the waiting conditions may not be satisfied in some cases.
See the following example:
Speed Control/Speed
Control Cancel
(SPEED/SPEEDR)
The speed of the axis is controlled in the speed control mode.
Command type
Single execution command
Format
SPEED_[<axis name>]<speed command value> ---8--- _T< speed change
rate>;
SPEEDR_[<axis name>] ---8---_T<speed change rate>;
Ex: SPEED_[J01]100.00 [J02]100.00 _T100;
SPEEDR_[J01] [J02] _T100;
Superimposed only for
this interval
Master axis
Slave axis
ADDAXR command
ADDAX command
Superimposed portion
travel distance
Ex:
...
ADDAX [J02] [J01];
PARALLEL N2;
MOVE [J01]1000.;
JOINT;
MOVE [J02] 500;
...
←
J02 is the slave axis in the superimposition. Posi-
tioning only up to 500. is not sufficient for in-posi-
tion, which means that the MOVE command cannot
be completed. Practically, it will be completed after
the movement of [J01] (2 lines before) is completed.
To avoid waiting for completion of [J01], it is neces-
sary to replace use MOVEL in Pass Mode, etc.
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