IAI America ERC2 - Manual (Page 101)

6. Parameter Settings
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6.2.3 Parameters Relating to the External Interface
z Output mode of position complete signal (No.39 FPIO)
This parameter defines the status of position complete signal to be applied if the servo turns off or “position
deviation” occurs while the actuator is standing still after completing positioning.
The following two conditions can be considered:
[1] The position has deviated, due to external force and while the servo was on, beyond the specified
“positioning band.”
[2] The position has deviated, due to external force and while the servo was off, beyond the specified
“positioning band.”
To support the above two conditions, how the “position complete status” is monitored can be specified flexibly in
accordance with the characteristics of the system or sequence circuit on the PLC side.
Among others, it is recommended that this parameter be set to “1 [INP]” if position complete signals are to be
used like auto-switches on an air cylinder.
The ON/OFF status of each position complete signal is controlled as follows in accordance with the setting of
parameter No. 39.
Setting of
parameter No. 39
Description
0 [PEND] [1] When the servo is on
The position complete signal remains ON even after the current position has exited the
range set by the specified “positioning band” with respect to the target position.
[2] When the servo is off
The position complete signal is OFF unconditionally regardless of the current position.
1 [INP] Regardless of the servo on/off status, the position complete signal turns ON if the
current position is within the range set by the specified “positioning band” with respect to
the target position, and turns OFF if the current position is outside this range.
* In this mode, position complete signals are used just like auto-switches on an air
cylinder.
The factory setting is “0 [PEND].”
z SIO communication speed (No.16 BRSL)
If specified, this parameter sets the communication speed to be applied when the actuator is controlled via serial
communication by means of the PLC’s communication module.
Set an appropriate value in parameter No. 16 in accordance with the specification of the communication module.
You can select “9600,” “19200,” “38400,” “115200” or “230400” bps.
The factory setting is “230400 [bps].”
z Minimum delay for slave transmitter activation (No.17 RTIM)
If specified, this parameter sets the minimum delay time after the controller has received a command until the
transmitter is activated, when serial communication is performed by means of the PLC’s communication module.
The factory setting is “5 [msec].” However, if the specification of the communication module is 5 msec or above,
set the necessary time in parameter No. 17.