IAI America PCON-SE - Manual (Page 73)

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4. Description of Operating Functions
Ŷ Positioning start (CSTR)
Upon detecting a rise edge (0
→1) of this signal, the controller will read the target position number as a binary
code consisting of six bits from PC1 to PC32 (position no. specification register), and execute positioning to the
target position of the corresponding position data.
Before issuing a start command, all operation data such as the target position and speed must be set in the
position table using the PC or teaching pendant.
If this command is issued when home return operation has not been performed yet after the power input (the
HEND output signal is OFF), the controller will automatically perform home return operation before positioning to
the target position.
Ŷ Moving (MOVE)
This signal is output while the servo is ON and the actuator is moving (also during home return, push & hold
operation or jogging).
Use the MOVE signal together with the PEND signal to allow the PLC to determine the actuator status.
The MOVE signal will become “0” when home return is completed and during a pause after a judgment is made
during push & hold operation that the work is being contacted as well as when positioning is completed.
Ŷ Command position number (PC1
− PC32)
When a movement command is effected upon 0
→ 1 of the CSTR signal, the six-bit binary code consisting of
signals PC1 to PC32 will be read as the command position number.
Ŷ Completed position number (PM1
− PM32)
These signals can be used to check the completed position number when the PEND signal becomes “1.”
The signals are output as a binary code in the position no. status register.
Immediately after the power is input, all of the PM1 to PM32 signals are “0.”
All of PM1 to PM32 are also “0” when the actuator is moving.
As described above, this signal is output only when positioning is completed.
All of PM1 to PM32 will become “0” when the servo is turned OFF or an emergency stop is actuated. They will
return to “1” when the servo is turned ON again, provided that the current position is inside the positioning band
(INP) with respect to the target position. If the current position is outside the band, the signals will remain at “0.”
The signals will also become “1” when judgment is made as ON during push & hold operation or the work is not
contacted.