IAI America SSEL - Manual (Page 372)

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Part 3 Positioner Mode
5.4 Timings in the Teaching Mode
T1: At least 20 msec. T1 represents the time after the position-information write input signal turns ON, until
writing of the current position starts.
When the teaching mode specification (MODE) input signal is turned ON, the teaching mode (TCMD)
output signal will turn ON. The controller will enter the teaching mode and jogging/teaching via PIOs will
become possible.
To confirm if the controller is in the teaching mode, check if the TCMD signal is ON.
If both the jog+ and jog- input signals turn ON at the same time, the actuator will move to the position
corresponding to the signal that was input first.
*Pause signal is a contact-B input signal (always ON), so keep this signal ON while teaching is in progress.
To perform inching, specify a desired inching distance (IC001 through 1) before the jog command is input.
If the current position write (PWRT) input signal has remained ON for at least 20 msec, the current
actuator position will be written to the selected command position number.
Once the data write is complete, the write complete (WEND) output signal will turn ON. To confirm if the
controller has finished writing data, check if the WEND signal is ON.
When the PWRT input signal turns OFF, the WEND output signal will turn OFF.
If the position table screen is open on the PC or teaching pendant, inputting a write signal from the
PLC will not update the position data display. To check the acquired position data, do one of the
following operations:
PC --- Click the button.
Teaching pendant --- Turn the PORT switch from OFF to ON.
303: Home return complete
014: Teaching mode specification
305: Teaching mode output
015, 016: Axis 1 jog
017, 018: Axis 2 jog
003 through 013: Command positions
000: Current position write
302: Write complete
Position 1