IAI America PCON-CY - Manual (Page 91)

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5. Operation Using I/O Signals
5.5 Using Rotary Actuators in Multi-rotation Specification
Rotary actuators of multi-rotation specification models can be set to operate in the multi-rotation mode or
limited-rotation mode using a parameter.
5.5.1 How to Use
(1) Homing
When a homing command is issued, a signal of the limit switch located in the home direction is detected. Once a limit
switch signal is detected, the actuator reverses its direction. Thereafter, the actuator moves until a limit switch signal
is no longer detected, and then moves further by the distance specified in Parameter No. 22, “Home offset,” upon
which the homing is completed.
(2) Operation commands
Limited-rotation specification
(Normal mode [Selected by parameter No. 79]) Multi-rotation specification
(Index mode [Selected by parameter No. 79])
Push-motion operation permitted Push-motion operation inhibited
Absolute coordinate specification - 0.15 ° to 360.15° Absolute coordinate specification 0.00 ° to 359.99°
Relative coordinate specification - 360.15 ° to 360.15° Relative coordinate specification - 360.00 ° to 360.00°
Note
Pay attention to the PIO pattern parameter for the following controllers.
Each controller does not support relative coordinate specification in the PIO pattern specified below:
[1] PCON-C/CG: PIO pattern = 5 (User parameter No. 25)
[2] PCON-CY:
PIO pattern = 0 (User parameter No. 25)
• Rotational axes of simple absolute unit specification do not support the index mode. Accordingly, the multi-rotation
specification cannot be selected for these axes.
Applicable Models
RCP2-RTBL-I-28P-20-360-* PCON-C-28PI-*
RCP2-RTBL-I-28P-30-360-* PCON-CG-28PI-*
RCP2-RTCL-I-28P-20-360-* PCON-CY-28PI-* Actuators
RCP2-RTCL-I-28P-30-360-*
Controllers
PCON-SE-28PI-*