IAI America PCON-CA - Manual (Page 75)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
67
[2] Overview of major Functions
Major functions Description
Number of positioning
points
Number of positioning points which can be set in the
position table.
Operation with the
Position No. Input
Normal operation started by turning the start signal ON after
position No. is entered with binary data.
Position No. direct
command operation
Operation enabled by turning the signal directly
corresponding to a position No. ON
Positioning Positioning enabled at an arbitrary position by the data set
in the position table
Velocity change during
the movement
Velocity change enabled by activating another position No.
during movement
Pressing (tension) Operation by an arbitrary pressing (tensile) force set in the
position table enabled
Pitch Feeding
(relative moving feed)
Pitch feed by an arbitrary moving distance set in the
position table enabled
Home return signal
input
Input signal exclusively used for home return. Set to ON to
start home return
Pause The operation can be interrupted or continued by setting
this signal to ON or OFF, respectively.
Jog moving signal The actuator can only be moved while the input is set to
ON.
Teaching signal input
(Current Position
Writing)
Setting the input signal to ON allows the coordinate value in
the stop state to be written to the position table.
Brake release signal
input
The brake (option) can only be released while the input is
set to ON.
Moving signal output The output signal is set to ON while the actuator is moved.
Zone signal output The output signal is set to ON while the actuator is entered
within the zone defined by the coordinate values set as
parameters.
Position zone signal
output
The output signal is set to ON while the actuator is entered
within the zone defined by the coordinate values set in the
position table.
[3] Operation modes of rotary actuator in multiple rotation mode and command limitations
An actuator of multi-rotation specification includes two operation modes, the normal mode
enabling only a limited number of rotations and the index mode enabling a number of rotations.
A specific operation mode can be selected by parameter No.79 “Rotational axis mode
selection”. Parameter No.80 “Rotational axis shortcut selection” allows the shortcut to be made
valid or invalid.
The table below lists the settings of parameters and the operation specification in each mode.
Rotary axis mode
Parameter No.79
Rotational axis
shortcut
selection
Parameter No.80
Current
position
indication
Absolute
position
command zone
Relative
position
command zone
Soft Limit
Enabling/
Disabling
0 (Normal Mode) 0 (Disabled)
-9999.99
to 9999.99 Note 1
-0.15
to 9999.15 Note 1
-9999.30
to 9999.30 Note 1
Enabled
0 (Disabled)
1 (Index Mode)
1 (Enabled)
0 to 359.99 0 to 359.99
-360.00
to 360.00
Disabled
Note 1 : It is limited within the range of the software limit.