IAI America RCP2-CF - Manual (Page 124)

104
Jogging/teaching timing
T1: 20 msec or more; time after the current-position write input is turned ON until writing of the current position
is started
When the operation mode (MODE) input is turned ON, the current operation mode (MODES) output will turn ON
to activate the teaching mode where jogging and teaching can be performed using PIO.
The controller will not switch to the teaching mode unless the operation mode (MODE) input is turned ON while
the pause input, reset input and start input are OFF.
To check if the controller is in the teaching mode, check if the current operation mode (MODES) output is ON.
The actuator will stop if both the +jog input and –jog input are turned ON. Turn OFF both inputs, and then
resume jogging in one direction.
If the current-position write (PWRT) input has remained ON for 20 msec or longer, the current actuator position
will be written to the selected command position number.
When the writing is complete, the write completion (WEND) output will turn ON. To check if the writing has
completed, check if the write completion (WEND) output is ON.
Turning OFF the current-position write (PWRT) input will cause the write completion (WEND) output to turn OFF.
Note: Be sure to enable the pause signal using parameter No. 15 (by setting the parameter to “0”)
(the pause signal is enabled at the factory). The system cannot switch to the teaching mode if
the pause signal is disabled (i.e., the above parameter is set to “1”).
If a signal to be written is input from the PLC while the position table screen is open on the PC or
teaching pendant, the position data display will not be refreshed. Perform one of the following operations
to check the retrieved position data:
PC --- Click the button.
Teaching pendant --- Turn on the PORT switch.
Operation mode
Current operation mode
+Jog
(*Pause)
-Jog
(Reset)
Command position
Current-position write
(Start)
Write completion
(Position complete)
Position 1
T
1
(MODE)
(MODES)
(PWRT)
(WEND)