IAI America RCM-GW-PR - Manual (Page 86)

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PfofiBus Gateway
(9) Positioning start (CSTR) PLC output signal
Upon detecting the leading edge of this signal from “0” (OFF) to “1” (ON), the controller reads the
target position number specified by the binary code of PC1 to PC32768 (the signal varies according
to the operation mode), and then performs positioning to the target position corresponding to the
applicable position data. The same applies when a numerical value is specified directly in the position
data specification area.
Before positioning is performed, the target position, speed and other operation data must be set in
the position table using a PC/teaching pendant.
If this command is issued before the home return operation is performed following the power on (=
while the HEND output signal is “0” (OFF)), 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) Positioning complete (PEND) PLC input signal
This signal turns “1” (ON) when the actuator has moved to the target position and entered the
positioning band, or when the push-motion operation has completed (without missing the load).
If the servo has turned ON, the applicable position is set as the target position and accordingly this
signal turns “1” (ON). When positioning operation is started using the HOME signal or CSTR signal
thereafter, this signal will become “0” (OFF).
Caution
If the servo is turned 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 signal will turn “1” (ON) again if the actuator is inside the
positioning band.
If CSTR remains “1” (ON), the PEND signal will not become “1” (ON) even when the current actuator
position is inside the positioning band. The PEND signal will turn “1” (ON) when the CSTR signal turns
“0” (OFF).
Speed
Timing at which the positioning
complete signal turns ON
Target position
Travel distance
Time
Positioning band