IAI America PCON-CF - Manual (Page 133)

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7. Operation
7.9.2 Notes on Incremental Mode
If an operation command is issued based on relative coordinate specification while the actuator is moving (in the
normal positioning mode or push & hold mode), how the actuator will operate varies depending on whether or not push
action is specified in the operation command by relative coordinate specification, as explained below.
(1) When the relative coordinate operation command specifies an operation in the normal positioning
mode (without push action)
[1] When a relative coordinate operation command is specified while the actuator is moving in the normal positioning
mode
If any incremental position number is selected and input and then a start signal is input while positioning is in
progress, the actuator will move to the position corresponding to the target position of the initial command plus
the incremental distance.
(If the incremental distance is a negative value, the actuator will move to the position corresponding to the target
position minus the incremental distance.)
Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1, the
actuator will move to the position 215 mm from the home.
Position table (Field(s) within thick line must be entered.)
If the start signal for movement to an incremental position number is input multiple times during positioning, the
actuator will move to the position corresponding to the initial position plus the “increment x number of times the
signal was input.”
Example) If the start signal for movement to position 2 is input twice while the actuator is moving to position 1,
the actuator will move to the position 230 mm from the home.
Command position
Start
Position complete
Actuator movement
Speed
Position from home: 230 mm
Distance
Position 1 Position 2
Distance
Position from home: 215 mm
Command position
Start
Position complete
Actuator movement
Speed
Position 1 Position 2
0
1
2
}
½ ½ ½ ½ ½
200.00
15.00 =
100.00
20.00
0.10
0.10
0
0
0
1
Position
[mm]
Speed
[mm/ss]
Positioning
band
[mm] Incremental
Push
[%]
* On the teaching pendant screen, this sign indicates that the position is specified
in the incremental mode.
Incremental
feed
No.
Positioning mode