IAI America RCM-GW-PR - Manual (Page 49)

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PfofiBus Gateway
5.2 Direct Numerical Specification Mode
In the direct numerical specification mode, the position data, speed, acceleration/deceleration, positioning
band (push band) and push-current limiting value are specified directly as numerical values to operate the
actuator.
One of five patters can be set according to the maximum number of connected axes. (Mode setting switch
SW1)
Also, the current position data can be read at any time.
The position table need not be set for each axis.
The key functions that can be controlled in this mode are summarized in the table below.
Key function
{: Direct control
∆: Indirect
control
X: Disabled
Remarks
Home return operation {
Positioning operation {
Speed/acceleration setting
{
Pitch (incremental) feed X Pitch feed data cannot be processed directly.
The host PLC must issue each command by
adding/subtracting the pitch-feed distance
data to/from the current position.
Push-motion operation {
Speed change during movement { Speed data is accepted at the start of
positioning. To change the speed during
movement, therefore, change the speed data
during movement and then restart the
positioning operation.
Operation with acceleration and
deceleration set differently { Acceleration/deceleration data is accepted at
the start of positioning. To specify a
deceleration different from the acceleration,
therefore, change the deceleration data during
movement and then restart the positioning
operation.
Pause {
Zone signal output X Monitor the current position using the PLC. *1
PIO pattern selection X *2
*1 The current position data does not use strobe signals. Accordingly, to check the current position
using the PLC while the actuator is moving, set a zone and confirm that the data has remained in the
specified zone for at least two scan periods.
*2 Set the PIO pattern selection parameter (No. 25) of the connected controller to 0 (standard type).
(PCON-C/CG, ACON-C/CG, SCON-C, ERC-2NP/PN)