IAI America PCON-CA - Manual (Page 115)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
107
„ Control method
1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in
the specified position table for positioning to the target position.
2) At the completion of positioning, positioning complete signal PEND is turned ON as well as
current position No. PE* of the specified position.
3) After PEND is turned ON, turn the ST* signal OFF.
4) Current position No. PE* and positioning completion signal PEND are turned ON if the
remaining moving distance is entered into the positioning width zone. The current position
number PE* and PEND Signal will be kept ON once it is turned ON unless the start signal
ST* is turned back ON, servo is turned OFF (Note) or the actuator is out of the positioning
band width range (Note) . When the pause signal *STP is turned OFF in this condition, the
current position number PE* and PEND Signal will also be turned OFF.
(Note) It can be switched over with Parameter No.39.
Caution: (1) If the ST* signal is turned ON for the position after completion of
positioning, both the PE* and PEND signals remain ON (except the
pitch feed operation).
(2) Both the PE* and PEND signals are set to ON in the positioning
width zone. Accordingly, they may be turned ON under operation of
the actuator if a large positioning width is set.
(3) Interlock should be taken so that two or more ST* signals are set to
ON simultaneously.
1) Entering the ST* signal of another position during positioning is
invalid. If the ST* signal of another position is turned ON during
positioning, the operation is terminated after the completion of
the positioning being operated.
2) Entering the ST* signal of another position with the ST* signal of
the current position remaining ON after the completion of
positioning allows the positioning to the other position to be
executed.
(4) If Parameter No.27 “Move command type” is set to “0” (factory
setting), turning ST* OFF during positioning caused the operation to
be interrupted.
Start signal
ST*
(PLCoController)
Positioning Completion Signal
PEND
(ControlleroPLC)
Turned ON after
entering into
positioning width zone
Target Position
Current Position No.
PE*
(ControlleroPLC)
Turned ON by turning
PEND ON