Installation manual

Chapter 6 Programming
6-58
６．８．１ Axis Real-time Control Mode
If the target axis value is issued as the command, every 2msec or more cycles, the axis
angle (feedback) control is performed without interpolation.
Axis Real-time Control Mode
Program description:
① Sets the time-out. ：pa_set_tim
The default time-out is 1000 msec. This time can be issued only when it needs to be
altered.
② Designates the current angle to the target angle. ：pa_odr_axs
Sets the target angle acquiring current target angle or current angle.
If the target angle is beyond the limit, errors below occur and the brake automatically
stops the arm.
③ Sets the axis real-time control mode. ：pa_mod_axs
It shifts to the real axis control mode. After this PA library is issued, until terminating
axis real-time control mode, the command (pa_odr_axs or pa_chk_cnt) has to be issued
within time-out.
If it is longer than time-out, an error occurs and
the brake stops the operation as if an
accident happened during control.
④ Designates the target axis angle. ：pa_odr_axs
As it becomes the 2msec cycle target value, the command should be taken into
account the axis limit angle. If the target axis angle is beyond the limit, the following
errors occur and the brake might, automatically, stop the arm.
ERR_SYNC_S1 S1-axis sychronization error in axis control
ERR_SYNC_S2 Ｓ２
： ：
ERR_SYNC_W2 Ｗ２
④ terminates the axis real-time control mode.
The axis real-time control mode is terminated by the brake-stop (pa_stp_arm) or the
temporary stop (pa_sus_arm).
Target Axis
Value or
Playback
Axis Data
Target Axis
Angle
Interpolation
Processing
Target
Axis
Angle
Axis
Command
Orders
Current
Axis Angle
+
-
< Motion Control > <Operation control> <ServoDriver>
Control Period = 2[ms]
When in Axis Real-time Control
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