IAI America PCON-CA - Manual (Page 98)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
90
(2) Infinite Rotation Control
Making the shortcut selection valid and moving the actuator in a specific direction
continuously allows the actuator to be rotated continuously as a motor. The continuous
operation can be done as described below.
[Operation Examples]
This example rotates the actuator by 2 turns and finally stops it at position No.4.
Position No. Position
1 0
2 120
3 240
4 90
Enter position data assuming 1q =
1mm.
(Example) 1.2 is assumed as 1.2q.
1) Widen the positioning widths of position No.1 to 3 so that they are located before the
position at which deceleration is started.
2) Positioning of position No.1 makes positioning complete signal PEND turned ON before
deceleration is started.
If PEND is turned ON, positioning of position No.2 is executed. Similarly, positioning is
repeated in the order of position No.3 o 1 o 2 o 3 o 4. Because the normal positioning
always gives position data specified last the highest priority, the actuator can be rotated
continuously.
3) If the speeds in position No.1 to 4 are set to be the same, the actuator can be rotated at the
same speed. Then the actuator is stopped at the positioning set in position No.4. The
number of rotations is defined by the number of repeats of position No.1 to 3.
Position No.4
Position No.1
Position No.2
Position No.3
Position No.1
(Positioning width)
Position No.2
(Positioning width)
Position No.3
(Positioning width)
Position No.1
(Positioning width)
Position No.2
(Positioning width)
Position No.3
(Positioning width)
Actual operation
Position No.1
Positioning
Position No.2
Positioning
Position No.3
Positioning
Position No.1
Positioning
Position No.2
Positioning
Position No.3
Positioning
Position No.4
Positioning