IAI America PCON-CFA - Manual (Page 203)

4. SCON-CA
195
(2) Operation in the half direct mode
Operate the actuator by specifying data in the target position register, positioning band register, specified speed
register, acceleration/deceleration register and push-current limit specification register.
z Example of operation (push-motion operation)
[1] Set the target position data in the target position register.
[2] Set the positioning band data in the positioning band register.
[3] Set the speed data in the speed register.
[4] Set the acceleration/deceleration data in the acceleration/deceleration register.
[5] Set the push-current limit data in the push-current limit value register.
[6] Turn the push specification (PUSH) signal ON.
[7] Specify the push direction using the push direction specification (DIR) signal. (Refer to 4.6.10)
[8] Turn the positioning command (DSTR) signal ON while the positioning complete (PEND) signal is ON or
moving signal (MOVE) is OFF.
The data set in [1] to [5] are read by the controller at the leading edge of the DSTR signal.
[9] The DSTR signal turns ON and PEND turns ON tpdf thereafter.
[10] Turn the DSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned
ON. Do not change the value of each register until the DSTR signal turns OFF.
[11] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[12] The current position data is constantly updated.
[13] The PEND signal turns ON when the motor current reaches the current-limiting value set in [5] while the
DSTR signal is OFF. (Push-motion operation is completed.)
If the motor current does not reach the current-limiting value set in [5] after the positioning band set in [2] has
been reached, the missed load in push-motion operation (PSFL) signal turns ON. In this case, the PEND
signal will not turn ON. (The actuator has missed the load during push-motion operation.)
[14] Turn the PUSH signal OFF after the PEND signal or PSFL signal has turned ON.
z Example of operation (normal positioning operation)
In normal positioning operation, the signal in [6] is set to OFF.
When the remaining travel falls within the positioning band set by the position data table, the PEND signal turns
ON as long as the DSTR signal is OFF.