IAI America RCM-GW-DV User Manual

Page 100

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(4) Operation in the direct numerical specification mode

A function is provided to operate the actuator in the push-motion operation mode by writing the
position data, acceleration/deceleration data, speed data, current-limiting value and positioning band
directly to the link registers in the PLC, without using the position table in the controller.
In the case of push-motion operation, all of the above data are set.
In the case of normal positioning operation, the push-current limiting value data, PUSH signal and
DIR signal are not required among the data required in push-motion operation.
Take note that with either operation, the actuator will not operate unless all necessary data are set.

Operation

[Push-motion operation]

[1] Set the push-motion start position data in the position data specification area.
[2] Set the speed at which to travel to the push-motion start position in the speed specification

area, and set the corresponding acceleration/deceleration in the acceleration/deceleration
area. Even if acceleration/deceleration is not set, the setting of parameter No. 9, “Default
acceleration/deceleration” will not be applied.

[3] Set the travel for push-motion operation in the positioning band specification register. (*)
[4] Set the push-current limiting value data to set the push force in the push-current limiting value

[5] Turn the PUSH (push mode specification) signal “1” (ON).
[6] Use the DIR (push direction specification) signal to select the push direction.

Push-motion operation is performed in the direction opposite home when the DIR signal is “1”
(ON), or in the direction of home when the DIR signal is “0” (OFF).

[7] Thereafter, turn the start (CSTR) signal “1” (ON) after confirming that the position complete

(PEND) signal is “1” (ON).
The data set in [1] to [4] are read by the controller at the “0” (OFF)

“1” (ON) edge of CSTR

(= leading edge of the signal).

[8] PEND turns “0” (OFF) tdpf after CSTR has turned “1” (ON).
[9] Turn CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE

signal has turned “1” (ON).

[10] MOVE turns “1” (ON) simultaneously as PEND turns “0” (OFF) or within 1 Mt thereafter.
[11] PEND turns “1” (ON) when the motor current reaches the push-current limiting value set in [4]

as a result of push-motion operation, while CSTR is still “0” (OFF). (The push-motion
operation has completed.)
If the motor current does not reach the push-current limiting value set in [4] even after the
actuator has entered the positioning band set in [3], the PSFL (missed work) signal turns “1”
(ON).
In this case, PEND does not turn “1” (ON). (The actuator has missed the work.)

[12] The current position data is constantly refreshed.
[13] Turn PUSH “0” (OFF) after PEND or PSFL has turned “1” (ON).
*

Take note that even if the positioning band specification data is not set, the setting of
parameter No. 10, “Default positioning band” will not be applied.

[Normal positioning operation]
In the case of normal positioning operation, the PUSH signal remains “0” (OFF) in [5] above. Also,
the setting of push-current limiting value data in [4] is not required. PEND turns “1” (ON) when the
remaining travel falls within the positioning band specification data range set in [3] while CSTR is still
“0” (OFF).