Omron CS1W-MCH71 Operation Manual page 317

Basic Information
Slave Axis
Program Restart
Precautions in Using
Synchronous Commands
1,2,3...
272
• Whether to use the specified speed of the master axis or the feedback
speed can be selected using the operand of each synchronous com-
mand.
• If a master axis is the virtual axis, feedback speed = specified speed.
• For the counter axis, specified speed = feedback speed.
• There is no limit on the number of slave axes per one master axis.
• The axis that is already operating as a slave axis can be specified as a
master axis for another synchronous command.
• Only the axes that are declared by PROG command (program start) can
be used as slave axes.
• A master axis that is already operating cannot be specified as a slave axis
for another synchronous command, except for that the master axis of
ADDAX (Travel distance superimpose) command can be specified as a
slave axis of another synchronous command.
• When a slave axis already in synchronization is specified as a slave axis
for another master axis, the alarm [2016h: Same axis specification multi-
plicity] will occur. In the cases below, however, the alarm will not occur
and a new synchronous operation will be established.
Operating axis
MOVELINK slave axis
CAMBOX slave axis
CONNECT slave axis
When a program is stopped after establishing synchronization and resumed,
the following operations will be as described below depending on the com-
mand.
MOVELINK, CAMBOX:
The latest interrupted synchronization is re-executed. Whether the condition
for starting the synchronization is met or not met will be reflected when it is
restarted.
CONNECT:
The latest interrupted synchronization is re-executed.
SYNC:
There is no re-execution after interruption.
ADDAX:
The latest interrupted synchronization is re-executed.
Note While a program is being stopped, synchronization is also being stopped.
Therefore, there will be some position deviation between axes if the axis is
moved.
The precautions are as follows:
1. Start the master axis of a synchronous command only after all the slave
axes have recognized and processed the command.
Overlapping command
MOVELINK slave axis
CAMBOX slave axis
MOVELINK slave axis
CAMBOX slave axis
CONNECT slave axis
Section 6-1
Operation
Interrupts the current
synchronization and
establish a new synchro-
nization.