IAI America PCON-CF - Manual (Page 78)

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5. I/O Signal Control and Signal Functions
„ Jog (JOG+, JOG-)
This signal is enabled when the teaching type is selected.
When the actuator is jogging (i.e., the JISL signal is OFF), it will jog toward the +/- software stroke limit upon
detection of an OFF
Æ ON rise edge of this signal.
If an ON Æ OFF fall edge of this signal is detected while the actuator is moving, the actuator will decelerate to a
stop.
The jogging speed is defined by parameter No. 26, “PIO jog speed.”
* If any of the following input signal changes occurs while the actuator is jogging, the actuator will decelerate to a
stop:
[1] Both the JOG+ and JOG- signals have turned ON.
[2] The JISL signal has turned ON (i.e., the operation mode has changed to inching).
[3] The CSTR signal has turned ON (i.e., a positioning command has been input).
Upon detection of an OFF Æ ON rise edge of this signal while the actuator is inching (i.e., the JISL signal is ON),
the actuator will travel the distance defined in parameter No. 48, “PIO inching distance.”
The actuator will continue with its inching movement if this signal is switched while the actuator is inching.
Caution: If jogging or inching is performed before a home return is completed, the actuator may
collide with a mechanical end because the software stroke limits are not yet effective.
Exercise due caution.
„ Direct position command (ST0 to ST6) [7-point type]
These signals are effective when “4” is set in parameter No. 25.
Upon detection of an OFF
Æ ON rise edge of this signal or detection of the ON level of the signal, the actuator
will move to the target position set in the corresponding position data.
Before executing this command, the target position, speed and other operation data must be set in the position
table using a PC/teaching pendant.
If ON edges of two or more signals are detected at the same time, priority will be given to the position command
of the smallest number among all detected command signals. (Example: If ON edges of ST0 and ST1 signals
are detected at the same time, the actuator will start moving to position 0.)
Although commands are executed upon detection of an ON signal edge, priority is given to the command that
was specified the earliest. In other words, a signal input will not be accepted while the actuator is moving. Even if
a different position signal is turned ON while the actuator is moving, the actuator will not commence moving to
the new position after reaching the target position.
Correspondence table of input signals and command positions
Input signal Command position
ST0 Position No. 0
ST1 Position No. 1
ST2 Position No. 2
ST3 Position No. 3
ST4 Position No. 4
ST5 Position No. 5
ST6 Position No. 6
If a movement command is issued when the first home return is not yet completed after the power was input,
home return will be performed automatically to establish the coordinates first, after which the actuator will move
to the target position.