IAI America ERC3 - Manual (Page 196)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
186
Caution: (1) If the ST* signal is turned ON for the position after completion of
positioning, both the PE* signal remain ON (except the pitch feed
operation).
(2) PE* Signal turns ON when the actuator gets into the positioning
width. Accordingly, they may be turned ON under operation of the
actuator if a large positioning width is set.
(3) Interlock should be taken so that two or more ST* signals are set to
ON simultaneously.
1) Entering the ST* signal of another position during positioning is
invalid. If the ST* signal of another position is turned ON during
positioning, the operation is terminated after the completion of
the positioning being operated.
2) Entering the ST* signal of another position with the ST* signal of
the current position remaining ON after the completion of
positioning allows the positioning to the other position to be
executed.
(4) If Parameter No.27 “Move command type” is set to “0” (factory
setting), turning ST* OFF during positioning caused the operation to
be interrupted.
[Important] Home return
In the first positioning operation after the power is supplied, home-return operation is automatically
performed, and then positioning operation with the data of the indicated position number starts.
There is no home-return command in Pattern 1. Have a home return in this way.
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If there is a problem in this operation, set 0.00mm to one of the position numbers as a position for
positioning, and perform positioning to that position. The actuator performs positioning to the home
position and PE* of the indicated position turns ON. Interlock the setting so positioning cannot be
conducted at other positions by this PE* Signal.
Start signal
ST*
(PLCoController)䎃
Positioning completion signal
PE*
(ControlleroPLC)䎃
Target Position
Home Return
Completion
T1•6ms
Turned OFF by
turning PE* OFF
Turned ON
after entering
into positioning
width zone Positioning Home return
Start signal
ST*
(PLCoController)
Turned ON after
entering into
positioning width
zone
Target
Position
Current position No.
PE*
(ControlleroPLC)
Turned OFF by
turning PE* ON