Omron SYSMAC CS1G Operation Manual page 322

Command Details
Operand
Operand Setting range
Master axis classifi- 0 or 1
cation
Note
Description
Master axis
Slave axis
Caution
Ex: ADDAX_[J02] [J01];
ADDAXR_[J02];
Axis name: J01 to J32
Decimal
Bit
No No
(1) Word data is extended to long word data with a sign in the MC Unit.
(2) Figures below the decimal point are to be omitted.
• The travel distance of the specified master axis is superimposed onto the
slave axis operation.
• Master axis classification determines whether to synchronize the slave
axis with the master axis command value or feedback value.
Master axis
classification
0 or omitted
1
• Executing another ADDAX command on the axis that is already in super-
imposing operation can establish new superimposing relations (overwrit-
ten).
• If the speed in superimposition exceeds the speed specified in the param-
eter [P2AA01: Maximum rapid feed rate], the alarm [3011h: Synchroniz-
ing slave axis excessive speed] will occur.
• ADDAX command execution will be completed when superimposition is
established.
• 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 4-5 System Variables Command
Code in Command Execution Status on page 142.)
Superimposed only for
this interval
Superimposed portion
travel distance
ADDAX command
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.
Variable specification
Word Long
word number
Yes (See Yes Yes (See
note 1.) note 2.)
Master axis value to
synchronize with
Command value
Feedback value
ADDAXR command
Section 6-3
INC/ ABL
influ-
Real Indirect
ence
specifi-
cation
Yes No
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