IAI America ERC2 - Manual (Page 76)

5. Explanation of Operating Functions
57
5.3.4 Positioning Operation
First, change the position complete (PEND) signal bit to “1” by turning on the 24-VDC power by referring to 5.3.2.
Home return is not yet complete immediately after the power has been turned on. Accordingly, home return
operation must be performed using the home return command (HOME) as explained in 5.3.3.
When positioning operation is started (using the CSTR signal) after specifying a position (via position number
specification or direct position data specification), the actuator will perform home return operation and then move
to the specified position.
An example of performing positioning operation using an actuator with a 400-mm stroke is explained below.
Example of position table
*T1: Set to T1 t 0 (ms) by considering the scan time of the host controller.
Comment
Position
[mm]
Speed
[mm]
Acceleration
[G]
Deceleration
[G]
Push
[%]
Positioning
band [mm]
Position command
Positioning start
(CSTR)
Position complete
(PEND)
Completed position
Home return
completion (HEND)
Moving (MOVE)
Actuator movement
Speed
Position 1 Position 2
Position 1 Position 2
Positioning
band
Mechanical
end
Home
position
Time