IAI America MSEP - Manual (Page 169)

3.8 I/O Signal Controls and Function
161
(23) Operation Timings for Positioner 2 and Positioner 3 Modes
The operation is to be made with the target position, speed, acceleration/deceleration, pressing
width and pressing force set in the position data of MSEP.
Ɣ Example of operation (Positioning operation)
(Preparation) Set the axis numbers to be used in Positioner 2 or Positioner 3 Mode with
Gateway Parameter Setting Tool. [Refer to 3.2. Initial Setting.]
Set the position data (target position, speed, acceleration/deceleration, etc.) to the
position table.
(Note) If Positioner 3 Mode, have 1) and 2) at the same time.
1) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in
the setup position No. register.
2) In the condition where the positioning completion (PEND) signal is turned “ON” or under
moving signal (MOVE) is turned “OFF”, turn “ON” the positioning start (CSTR) signal.
The data items set in Step 1) is read in the controller at the startup (ON edge) of the CSTR
signal.
3) After the CSTR signal is turned “ON”, the PEND signal is turned OFF after tpdf.
4) After confirming that the PEND signal is turned “OFF” or MOVE signal is turned “ON”, turn
“OFF” the CSTR signal. Do not change the value in the target position register until the
CSTR signal is turned “OFF”.
5) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
6) Once the remaining movement amount of the actuator gets into the range of the positioning
width set in the parameter, PEND signal turns ON if CSTR signal is OFF, and the complete
position number is output to the complete position number register.
Accordingly, for the read of the completed position No. register when the positioning is
completed, confirm it some time (Remaining Travel Distance Movement Time) after the
PEND signal is turned “ON”.
MOVE signal turns OFF at the same time as or within 10ms after PEND signal turns ON.
Ɣ Example of operation (Pressing operation)
For the pressing operation, set the current limit to the pressing box and pressing width to the
pressing width box in the position data at the stage of (Standard). By conducting a positioning
operation towards the set position number, the actuator performs a pressing operation.