IAI America ERC3 - Manual (Page 237)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
227
„ Control method
1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in
the specified position table for positioning to the target position.
2) For PIO converter, when the positioning is finished, the positioning complete signal PEND
turns ON at the same time as Current Position No. PE* of the commanded position.
3) For PIO converter, turn OFF ST* Signal once PEND Signal is turned ON.
4) Current position No. PE* and positioning completion signal PEND are turned ON if the
remaining moving distance is entered into the positioning width zone. Once Current
Position No. PE* and PEND Signal are turned ON, they remain ON unless the start signal
ST* is turned ON or the servo is turned OFF. They would not turn off even out of the
positioning width range. (Note 1)
Note 1 A switchover is available to INP (Setting 1) in Parameter No.39. PEND becomes an
in-position signal that turns OFF out of the positioning width.
Caution: (1) If the ST* signal is turned ON for the position after completion of
positioning, both the PE* and PEND signals remain ON (except the
pitch feed operation).
(2) Both the PE* and PEND signals are set to ON in the positioning
width zone. 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.
Start signal
ST*
(PLCoController)
Positioning Completion Signal
PEND
(ControlleroPLC)
Turned ON after
entering into
positioning width zone
Target Position
Current Position No.
PE*
(ControlleroPLC)
Turned OFF by
turning PE* ON