SS define master-slave relationship
IMM PGM MIP
USAGE ♦ ♦
SYNTAX xxSSnn or xxSS?
PARAMETERS
Description xx [ int ] - axis number to be defined as a slave
nn [ int ] - axis number to be defined as a master
Range xx - 1 to MAX AXES
nn - 1 to MAX AXES
Units xx - none
xx - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
DESCRIPTION This command defines master-slave relationship between any two axes. A few
rules are in place for ease of use.
• The trajectory mode for slave has to be appropriately defined before that axis
follows master in a desired fashion.
• An axis cannot be assigned as its own slave if it is already in a trajectory
mode that is specific to master-slaving.
• A slave axis cannot be moved individually using PA or PR commands if its
trajectory mode is specific to master-slaving.
This command gets executed immediately, and can also be called from within a
program.
RETURNS If “?” sign is issued along with command, the controller returns master axis
number.
REL. COMMANDS TJ - set trajectory mode
GR - set master-slave reduction ratio
EXAMPLE 2SS1 | set axis 2 to be the slave of axis 1
2SS? | query the master axis number for axis 2
1 | controller returns a value of 1
2TJ5 | set axis 2 trajectory mode to 5
2GR1.0 | set the reduction ratio of axis 2 to 1.0
1MO | turn axis 1 motor power ON
2MO | turn axis 2 motor power ON
1PA10 | move axis 1 to absolute 10 units
2PA20 | move axis 2 to absolute 10 units
TB | read error messages
232, 242000, AXIS-2 INVALID TRAJECTORY MODE FOR MOVING
| controller returns appropriate error message
Section 3 – Remote Mode 3-135
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