Master-Slave Synchronization; Using New_Move_Enable To Reduce Response Time; Overriding New_Move_Enable; Example Program For A Flying Shear Application - YASKAWA XTRAWARE - V3.0 Manual

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. Doing so results in all following motion
commands being run without the program waiting until a
New_move_enable input is received.

4.12.3. Example Program for a Flying Shear Application

The program below controls the implementation of a simple flying shear.
The parameter Pn2D1.1 is set to 0, mapping the New_move_enable input to
input terminal CN1-40.
1. LABEL 1
2. MOVE_R 0
3. WAIT_VAR Follower_synchronized = 1
4. SET_OUTPUT 1 ON
5. WAIT_VAR Position_demand_value >= 1000
6. SET_VAR Override_new_move_enable 1
7. GO_D 0 -1
8. SET_VAR Override_new_move_enable 0
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