IAI America RCM-GW-PR - Manual (Page 99)

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PfofiBus Gateway
(5) Simple direct operation (command specification mode)
The actuator is operated by writing the target position data to the link register in the PLC and
specifying other data such as the speed, acceleration/deceleration, positioning band and push-
current limiting value in the position table.
„ Preparation
Set all position data other than the target position (speed, acceleration/deceleration, positioning
band, push-current limiting value, etc.) in the position table.
„ Operation
[Normal positioning operation]
[1] Set the target position data in the position data specification register.
[2] Set the position number in the command position number register.
[3] Turn the start command (CSTR) signal “1” (ON) after confirming that the positioning complete
(PEND) signal is “1” (ON) or moving (MOVE) signal is “0” (OFF).
The target position data will be read by the controller at the “0” (OFF)
Æ “1” (ON) edge of CSTR
(leading edge of the signal).
[4] PEND turns “0” (OFF) tdpf after CSTR has turned “1” (ON).
[5] Turn CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE
signal has turned “1” (ON).
Do not change the target position data until CSTR turns “0” (OFF).
[6] MOVE turns “1” (ON) simultaneously as PEND turns “0” (OFF) or within 1 Mt thereafter.
[7] The current position data is constantly refreshed. When the remaining travel falls within the
specified positioning band (INP), PEND turns “1” (ON) if CSTR is “0” (OFF).
Accordingly, when reading the completed position number upon completion of positioning, check
the position number after waiting for an appropriate period (time needed to complete the
remaining travel) after PEND has turned “1” (ON).
Also note that the current position data may shift somewhat due to vibration, etc., even while the
actuator is stopped.
[8] MOVE turns “0” (OFF) simultaneously as PEND turns “1” (ON) or within 1 Mt thereafter.
[9] The target position data can be changed while the actuator is moving.
To change the target position while the actuator is moving, change the target position data, wait
for the PLC scan time, and then turn CSTR “1” (ON).
In this case, turn CSTR “1” (ON) for at least tdpf. Also, after CSTR is turned “0” (OFF), wait for at
least 1 Mt before turning it “1” (ON).
[Push-motion operation]
Push-motion operation is performed by setting a push-current limiting value in the Push field of
the position table in the preparation stage, and then performing positioning to the applicable
position number.