Software for the synchronization of axes - Kollmorgen

SOCAPEL SA SOFTWARE FOR SYNCHRONIZATION OF AXES 024.8068.A10.6.8 Instruction RESPOSInstruction code : 38 (hexa : 26).Data bytes :Answer byte :Tests :None.Status STATA.None.This instruction has no effect : it is saved for compatibility with softwares non-specificfor master/slave uses. This instruction is not needed since absolute values areprocessed differently.10.7 "MOVE" INSTRUCTIONS10.7.1 General InformationThe instruction set described in this section refers to ST1 software configured formaster/slave synchronizing. A similar instruction set exists for earlier ST1's which,although less suited to synchronizing applications, nevertheless offer the possibility of"smoothing" acceleration jumps during machine movements.The instructions in question generate motion via the internal reference generator (IRG)described in paragraph 8.4.The instructions operate in one of two ways :- Those with mnemonic codes beginning with "E" (for "execute") allow "informing"the ST1 of the type of motion required, as well as the desired speed or travel.The movement begins as soon as the instruction is received and anacknowledgement is issued in the form of status STATA. Acknowledgements forsubsequent instructions (if none, NOOP's) record the progress of the movement(in particular, the end of the movement).- Those with mnemonic codes beginning with "P" (for "prepare") are the same,except that the movement does not begin until a START instruction is received.When several axes are to execute different but simultaneous movements, it isadvisable first to issue each axis with its travel or speed; only then is the STARTcommand sent to initiate simultaneous movement of all the axes.A new movement can always be commanded, even if the current movement has notfinished.103