IAI America PCON-CFA - Manual (Page 239)

4. SCON-CA
233
(19) Operation mode (RMOD) [PLC output signal]
Operation mode status (RMDS) [PLC input signal]
The operation mode is selected as shown below based on the RMOD signal and the MODE switch on the front
panel of the controller.
Whether the current mode is AUTO or MANU can be checked using the RMDS signal.
The combinations of RMOD signal and MODE switch settings and the corresponding operation modes are shown
below.
Controller MODE switch = AUTO Controller MODE switch = MANU
RMOD signal = OFF
(AUTO mode is specified) AUTO mode
(RMDS=OFF)
MANU mode
(RMDS=ON)
RMOD signal = ON
(MANU mode is specified) MANU mode
(RMDS=ON) MANU mode
(RMDS=ON)
(Note) In the MANU mode, operation from the PLC cannot be performed.
(20) Position/simple-direct switching (PMOD) [PLC output signal]
This signal is used to switch between the mode where the target position is set using a value registered in the
position table stored in the controller, and the mode where a value specified by the target position channel of the
PLC is used.
PMOD = OFF: Use the position table
PMOD = ON: Use the value of the target position channel
(21) Push-motion specification (PUSH) [PLC output signal]
Push-motion operation can be performed when a move command is issued after turning this signal ON.
Normal positioning operation is performed if this signal is set to OFF.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”)
(22) Push direction specification (DIR) [PLC output signal]
This signal specifies the direction in which the actuator pushes the load.
When the DIR signal is turned OFF, the actuator will push the load in the direction of the value determined by
subtracting the positioning band from the target position.
When the DIR signal is turned ON, the actuator will push the load in the direction of the value determined by
adding the positioning band to the target position.
The DIR signal is invalid during normal positioning operation.
(For the timing of setting this signal, refer to (2), “Operation in the half direct mode” under 4.9, “Operation.”)
Speed
Travel
Positioning band Positioning band Positioning band
DIR = OFF Target position DIR = ON