IAI America PCON-CFA - Manual (Page 78)

2. ACON-C/CG,
PCON-C/CG
72
(3) Operation in the full direct mode
The actuator is operated by specifying all conditions required for positioning to channels such as the target
position channel and positioning band channel of the PLC.
z Example of operation (push-motion operation)
[1] Set the target position data to the target position channel.
[2] Set the positioning band data to the positioning band channel.
[3] Set the speed data to the speed channel.
[4] Set the boundary data for position zone output to the zone boundary+ channel and zone boundary- channel.
[5] Set the acceleration data to the acceleration channel.
[6] Set the deceleration data to the deceleration channel.
[7] Set the push-motion current-limiting data to the push-motion current-limiting value channel.
[8] Set the load current threshold data to the specification channel for load current threshold.
[9] Turn the push direction (PUSH) signal ON.
[10] Specify the push direction using the push direction specification (DIR) signal. (Refer to 2.7.7 (22).)
[11] Turn the positioning command (DSTR) signal ON while the position complete (PEND) signal is ON or moving
(MOVE) signal is OFF.
The data set in [1] to [8] are read by the controller at the leading edge of the DSTR signal.
[12] The PEND turns OFF upon an elapse of tpdf after the DSTR signal has turned ON.
[13] Turn the DSTR signal OFF after confirming that the PEND signal is OFF or MOVE signal is ON. Do not
change the value of each channel until the DSTR signal is turned OFF.
[14] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[15] The current position data is constantly updated.
[16] The PEND signal turns ON when the motor current has reached the current-limiting value set in [7] while the
DSTR signal is OFF. (Completion of push-motion operation)
Even when the positioning band set in [2] has been reached, the load missed in push motion (PSFL) signal
does not turn ON if the motor current has yet to reach the current-limiting value set in [7]. In this case, the
PEND signal does not turn ON. (The actuator missed the load in push-motion operation.)
[17] Turn the PUSH signal OFF after the PEND or PSFL signal has turned ON.
z Example of operation (normal positioning operation)
For normal positioning operation, set the signal in [9] to OFF.
Once the remaining travel has fallen within the positioning band set by the position data, the PEND signal turns
ON if the DSTR signal is OFF.