IAI America MSCON - Manual (Page 219)

3.8 C
ontrol and functions of Input and output signals of Remote I/O Mode
211
[For gripper type]
1) If the HOME signal is turned ON, the actuator moves toward the mechanical end at the home
return speed (20mm/s).
2) The actuator is turned at the mechanical end and stopped at the home position. The rotation
angle is the value set by Parameter No.22 “Home return offset level” after the detection of
phase Z.
Caution: Make sure to refer to Section 7.2 [12] when a change to Parameter No.22
“Home Return Offset Level” is required.
[2] Features of LS signals (LS0 to 2)
The LS* signals are not complete signals for positioning commands such as those for other PIO
patterns. Despite the specified position No., the corresponding LS* signal is turned ON when
the actuator is entered into the setup value range as if the actuator were detected by a sensor
installed.
(Example) The figure below shows the position table and the position at which each of the LS
signals is turned ON. If the actuator passes any of the positioning widths in the
operation by another position number or manual operation in the servo OFF state,
the relevant LS signal is always turned ON.
Caution: Even though a cold start error is generated, LS Signal would not turn OFF.
1)
2)
Home=0mm 70mm 150mm
LS0 is ON
0r5mm
LS1 is ON
70r10mm
LS2 is ON
150r5mm
No.
Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
0 0.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0
1 70.00 250.00 0.20 0.20 0 0 10.00 0.00 0.00 0 0 0 0
2 150.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0