IAI America ERC3 - Manual (Page 183)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1
173
„ Control method
1) First enter command position No. PC1 to PC* with binary data. Next turn start signal CSTR
ON. Then the actuator starts acceleration depending on the data in the specified position
table for positioning to the target position.
2) At operation start, positioning complete signal PEND is turned OFF. Always turn the CSTR
signal OFF. Unless CSTR Signal is turned OFF, the positioning complete signal PEND
would not turn ON at the completion of positioning.
3) The positioning complete signal PEND turns ON when positioning is complete.
4) Positioning complete signal PEND is turned ON if the remaining moving distance enters
into the positioning width. PEND signal that is turned ON will remain ON unless the start
signal CSTR turns ON again, or the servo is turned OFF. It would not turn OFF even if it
goes out of the positioning width. (Note 1)
Note 1 If INP (setting number: 1) is selected in Parameter No.39, PEND becomes INP (In-position)
Signal, and will turn OFF when it goes out of the positioning width.
Caution:
(1) Set the period taken from entering position No. to turning CSTR ON to 6ms or larger. In spite of
6ms timer process in the PLC, commands may be input to the controller concurrently to cause
positioning to another position. Take the scanning time in the PLC into account to set a period as
2 to 4 times as the scanning time.
(2) At the completion of positioning, positioning complete signal PEND is not turned ON if start
signal CSTR remains ON. If this occurs, turn CSTR OFF then PEND is turned ON immediately.
Therefore, create the sequence program so that turning PEND OFF makes CSTR turned OFF
and the PLC waits for the state in which PEND is turned ON.
(3) If a positioning is performed at the same position as the stop (complete) position number,
PEND turns OFF once.
(4) If the setting of the positioning width wide, the actuator continues to move to the target position
even after PEND turns ON.
[Important] Home-Return Operation without Home-Return Signal = Home-Return for Pattern 2
If a positioning operation is performed by the indicated position number without having a
home-return operation, the actuator automatically performs a home-return operation, and
then starts positioning operation by the indicated position number.
There is no home-return command in Pattern 2. Have a home return in this way.
Command position No.
PC1 to PC*
(PLCψController)
Start signal CSTR
(PLCψController)
Positioning Completion Signal
PEND
(ControllerψPLC)
T1t6ms
Turned OFF by
turning PEND OFF
Turned ON after
entering into
positioning width
zone
Target
Position