IAI America SCON-CA - Manual (Page 130)

Chapter 3 Operation
120
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Warning: (1) In home return incomplete state, software limit cannot stop the actuator.
Take interlock and prohibit the operation or perform the operation carefully.
(2) If the JISL signal is changed during inching operation, the inching being
operated is continued. If JISL is changed during job operation, the jog is
stopped.�
(3) Writing current data to position table
1) The feature is valid only when the teaching mode is selected (with the MODES signal being
ON).
2) Specify the position number to which the current data is written in the binary data format in
command position No.PC1 – PC32. Turn current value writing signal PWRT ON.
3) The coordinate value of the current position is written into the position table for the
controller.
If position data is written previously, only the coordinate value in “Position” is only rewritten.
If nothing is written, the values set in the parameters below are written as the speed,
acceleration/deceleration, positioning width, acceleration/deceleration mode, stop mode
and vibration control No.. Other data is set to “0”.
� Velocity ····································· Parameter No.8 “Default speed”
� Acceleration······························ Parameter No.9 “Default acceleration/deceleration”
� Deceleration ····························· Parameter No.9 “Default acceleration/deceleration”
� Positioning width ······················ Parameter No.10 “Default positioning width (in-position)”
� Acceleration/deceleration mode··· Parameter No.52 “Default acceleration/deceleration mode”
� Stop mode ································ Parameter No.53 “Default stop mode”
� Vibration control No.················· Parameter No.109 “Default vibration control No.”�
4) At the completion of writing, controller write complete signal WEND is output. Then turn the
PWRT signal OFF.
5) When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.
Turn OFF PWRT after confirming WEND is turned ON.
Turning it OFF before turning ON disturbs the proper data writing.
Current value write signal
PWRT
(PLC�Controller)
Current coordinate
writing prosess
(Controller)
Writing Completion Signal
WEND
(Controller�PLC)
T1 � 6ms
Turned OFF by turning
WEND ON
Turned OFF by
turning PWRT OFF
Command position No.
PC1 to PC**
(PLC�Controller)