franz91 Posted April 14, 2011 Share Posted April 14, 2011 Hi, How allow roll-over with X axis ? It only works with A, B and C axes... Link to comment Share on other sites More sharing options...
Sina.Sattari Posted April 14, 2011 Share Posted April 14, 2011 Hi Franz91, Roll over is only allowed for A, B, C and AA, BB and CC axes. Can you explain your application and your need for "roll-over" for X axis? Link to comment Share on other sites More sharing options...
franz91 Posted April 15, 2011 Author Share Posted April 15, 2011 Hi, I have a system with motor #1 which control X and Y axis and motor #2 which control Y axis. The coordinate system is : #1-> 8000X and #2-> -8000X+8000Y But I want control my system as a rotation system, like it is possible with A and B (I want command my axis as angles and roll-over when I want). But as it was already said I can't make a CS like #1-> 8000A and #2->-8000A+8000B. With #1-> 8000X and #2-> -8000X+8000Y, when I ask, at home position, in a motion program, X(370), it's make a complete round plus 10 degrees, but I want the shortest move (a move of -10 degrees in this example, like when I command A(370) with roll-over enabled). Link to comment Share on other sites More sharing options...
Omron Forums Support Posted April 15, 2011 Share Posted April 15, 2011 If you want to do custom axis definitions that PMAC normally does not allow or understand, you can just define your motors to use kinematics as such: &1 #1->I #2->I Then you can configure whatever relationship between motor and axis that you want in your kinematics subroutines. Please refer to the Power PMAC Coordinate Systems manual, Coordinate-System Kinematic Subroutines section (page 8 and following on latest version) for more information on setting up kinematics. Link to comment Share on other sites More sharing options...
Sina.Sattari Posted April 15, 2011 Share Posted April 15, 2011 Franz91, You can use a combination of rem function and kinematics to achieve this. You have to have a condition in your kinematics to check for shortest arc. Regards, Link to comment Share on other sites More sharing options...
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