Omron Sysmac NY-series Instruction & Reference Manual page 389

Sec-
tion
Accel- Mas-
era- ter ax-
tion is
Slave
axis
Con- Mas-
stant ter ax-
veloc- is
ity
Slave
axis
De- Mas-
cele- ter ax-
ration is
Slave
axis
When the constant velocity section of the master axis is negative, a constant velocity travel distance
error occurs and the axis stops.
If you want to feed the slave axis at the same velocity as the master axis, set the following value as
the travel distance of the slave axis.
Slave axis
=
travel distance
Precautions for Correct Use
If the counter mode for the master axis is Rotary Mode, specify a value that is within one ring
counter cycle for MasterDistance (Master Axis Travel Distance).
 LinkOption (Synchronization Start Condition)
Specify the condition for the slave axis to synchronize with the master axis.
• Start of Instruction
When this instruction is executed, the slave axis performs positioning in synchronization with the
master axis from the next period.
• When Trigger Is Detected
When the input signal specified as the input trigger occurs, the slave axis synchronizes with the
master axis and performs positioning from the next period.
• When the Master Axis Reaches the Master Following Distance
When the master axis reaches the master following distance during instruction execution, the slave
axis starts synchronization and performs positioning from the next period.
Even if the instruction is executed while the master axis is stopped at the master following distance,
the slave axis starts synchronization and performs positioning from the next period.
NY-series Motion Control Instructions Reference Manual (W561)
Relationship between the master axis and slave axis travel distances
Master Distance in Acceleration
Slave axis
×
travel
Master distance
(Master axis travel distance - Master distance in
distance
+
in acceleration
2
Master axis travel distance - Master distance in acceleration - Master distance in deceleration
Slave axis travel distance - Slave axis travel distance at the acceleration rate above - Slave
axis travel distance at the deceleration rate below
Master Distance in Deceleration
Slave axis
travel ×
Master distance
(Master axis travel distance - Master distance in
distance
+
in acceleration
2
Master distance
(Master axis travel distance
in acceleration
+
acceleration - Master distance in deceleration)
2
3 Axis Command Instructions
Master distance in acceleration
2
acceleration - Master distance in deceleration)
Master distance in deceleration
2
acceleration - Master distance in deceleration)
- Master distance in
Master distance
+
in deceleration
2
Master distance
+ in deceleration
2
Master distance
in deceleration
+
2
3-301
3