IAI America XSEL-KET - Manual (Page 353)

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INTELLIGENT ACTUATOR
Appendix
5. Notes on Use of the Synchro Function
 As a rule, the synchro function must be implemented by coupling the master-axis and slave-axis
sliders using a bracket, etc.
 If the current position of the master axis is not aligned with that of the slave axis when the servo is
turned on, correction will be made automatically via fine-pitch movement. (The slave-axis slider will
move to the displayed coordinate position of the master-axis slider in a fine-drive mode.)
 The function to detect any positional shift that occurred while the power was turned off and correct it
after the servo is turned on may not be available depending on the model.
(This function is enabled if the controller was ordered as a synchro specification and “1” is set for
both the master axis and slave axis in “Axis-specific parameter No. 38, Encoder ABS/INC type.”)
 With a system subject to a relatively large positional shift while the servo power is turned off, after
turning on the servo obtain the current positions of the master axis and slave axis using a PRDQ
command (supported by main application version 0.35 or later), wait for the distance between the
current position of the slave axis and that of the master axis to be reduced to
0.3 mm or less, and
then issue operation commands. (See the reference program below.)
 Reference program
This program reads the current positions of the master axis and slave axis after the servo is turned
on, and turns ON global flag 600 when the distance between the two axes becomes 0.3 mm or less.
Operation commands are written so that they will be executed after 600 is turned ON.
SVON 1 Turn on the servos of the synchro axes.
BTOF 600 Turn OFF flag 600.
LET 100 1.000 Assign 1 (or any value larger than 0.2) to variable 100.
DWGT 100 0.300 End the loop when the value in variable 100 becomes 0.3 or less
(= when the distance between the master axis and the slave axis
becomes 0.3 mm or less).
PRDQ 1 100 Assign the current position of the master axis to variable 100.
PRDQ 2 101 Assign the current position of the slave axis to variable 101.
SUB 100 *101 Subtract the value in variable 101 from the value in variable 100.
IFLT 100 0.000 If the result is a negative value,
MULT 100 -1.000 Multiply the result by –1 to convert it to a positive value.
EDIF
EDDO
BTON 600 Turn ON flag 600.
EXIT