IAI America PCON-SE - Manual (Page 95)

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4. Description of Operating Functions
4.6 Using a Rotary Actuator in the Multi-rotation Specification
Rotary actuators that support the multi-rotation specification let you specify multi-rotation operation or
limited-rotation operation.
(1) Home Return
When a home return command is issued, the actuator moves in the home return direction to detect the limit
switch and upon detecting the limit switch, the actuator reverses its direction. Thereafter, the actuator
travels to a position where the limit switch turns off again, and then move the distance corresponding to the
home return offset in parameter No. 22 to complete the home return.
(2) Operation Commands
Limited-rotation specification
(Normal mode [selected by parameter No. 79]) Multi-rotation operation
(Index mode [selected by parameter No. 79])
Push-motion operation is possible. Push-motion operation is not possible.
Absolute coordinate specification -0.15
° ~ 360.15° Absolute
coordinate specification 0.00
° ~ 359.99°
Relative coordinate specification -360.15
° ~ 360.15° Relative coordinate specification -360.00° ~ 360.00°
Note
Pay attention to the setting of the PIO pattern parameter for the controllers listed below.
On the following types of controllers, relative coordinate specification cannot be used in the PIO patterns
specified:
[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, so multi-rotation
specification cannot be specified 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-*
Actuator
RCP2-RTCL-I-28P-30-360-*
Controller
PCON-SE-28PI-*