IAI America PCON-CFA User Manual
Page 153
3. PCON-CA/CF
A
147
Push-motion specification
PUSH
(PLCĺPCON)
Push
Positioning
band
*T1: Make sure “T1
t 0 ms” is satisfied by considering
the scan time of the host controller.
*Yt + Xt
d tdpf d Yt + Xt + 3 (msec)
[9]
[10]
[11]
[12]
[13]
[17]
[16]
[15]
[14]
Push direction specification
DIR
(PLCĺPCON)
Positioning command
DSTR
(PLCĺPCON)
Position complete/load
missed in push motion
PEND/PSFL
(PCONĺPLC)
Current position
(PCONĺPLC)
Moving
MOVE
(PCONĺPLC)
Actuator operation
(push motion)
Actuator operation
(Normal positioning)