IAI America RCM-GW-DV - Manual (Page 90)

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DeviceNet Gateway
(9) Positioning start (CSTR)
Upon detection of the leading edge of this signal from “0” (OFF) to “1” (ON), the target position
number corresponding to the binary code consisting of PC1 to PC322768 (The specific signals used
vary depending on the operation mode) will be read and the actuator will position itself to the target
position specified by the applicable position data. The same also applies when the position is
specified directly using a numerical value in the position data specification area.
Before executing this command, the target position, speed and other operation data must be set in
the position table using a PC/teaching pendant.
If this command is executed when no home return operation has been performed yet (= the HEND
output signal is “0” (OFF)) following the power on, the actuator will automatically perform the home
return operation and then position itself to the target position.
Turn this signal “0” (OFF) after confirming that the PEND signal has turned “0” (OFF).
(10) Position complete (PEND)
This signal turns “1” (ON) when the actuator has moved to the target position and entered the
positioning band, or push-motion operation has completed (the actuator has not missed the work).
If the servo turns ON, the applicable position is defined as the target position and thus this signal
turns “1” (ON). It will turn “0” (OFF) when the positioning operation is subsequently started via the
HOME signal or CSTR signal.
Caution
If the servo turns OFF or an emergency stop is actuated while the actuator is stopped at the target
position, the PEND signal turns “0” (OFF).
When the servo subsequently turns ON, the PEND signal will turn “1” (ON) again if the actuator is
inside the positioning band. If CSTR remains “1” (ON), the PEND signal does not become “1” (ON)
even when the current actuator position is inside the positioning band. The PEND signal will become
“1” (ON) after the CSTR signal turns “0” (OFF).
Speed
The position complete
signal turns ON here.
Target position
Travel distance
Positioning band
Time
PLC output signal
PLC input signal