Yaskawa FSP Amplifier FlexWorks - Manual (Page 98)

Operating the FSP Amplifier Using FlexWorks
98
4.12. Master-Slave Synchronization
For master-slave applications, synchronization is generally started
by a digital input. Starting the synchronization process as quickly
as possible thereafter is extremely important to ensure accurate
synchronization. Any delay will result in an unwanted offset
between master and slave positions.
The command MOVE_R is used to commence synchronization.
Conditioning the MOVE_R command using the WAIT_INPUT
command will result in a delay of up to 2 ms, which may cause too
great a position error between the master and slave.
The New_move_enable flag can be used to reduce the delay to 125
μs.
4.12.1. Using New_move_enable to Reduce
Response Time
The New_move_enable input can be used to reduce the response
time to 125 μs. A parameter, Pn2D1.1, is set to activate this
feature. Once the flag has been set, all motion commands (except
when in Speed Control mode, see Section 5.3 Motion Modes) will be
delayed until the input has been received. The remainder of the
program will continue to run. It is important that a WAIT_INPUT
command (or any other wait statement) be issued after the motion
command that is to be delayed, to ensure that the rest of the
program is also delayed.
4.12.2. Overriding New_move_enable
The New_move_enable function can be overridden by setting the
variable Override_new_move_enable to 1. This results in all
following motion commands being run without the program waiting
until a New_move_enable input is received.