IAI America RCS-C - Manual (Page 114)

104
Appendix
Example of Basic RCS Positioning Sequence
An example of basic sequence is given below for reference when creating an RCS positioning sequence.
indicates a PIO signal of the RCStroller.
(Completed position decoding circuit)
Positioning complete
Completed position code
(Not less than the
PLC’s scan time)
Waiting for completed position to be read
Completed position 1
Completed position 2
Completed position 3
Completed position 4
Completed position 5
Homing start pulse
Homing start pulse, auxiliary
Position 1 (home) poisoning start pulse
Position 1 (home) poisoning start pulse, auxiliary
Position 1 (home) poisoning start, auxiliary
Position 1 (home) start confirmation
Position 1 (home) positioning complete
To be created for the number of positions.
(Position 1 positioning circuit: When position 1 is home.)
Homing request
Homing request
Position 1
positioning start
request
Position 1
positioning start
request
Positioning start request signals are sent as pulses so that one start
signal will be sent for each positioning operation.
Homing complete
Current positioning
completed position
Start signal Moving signal
Next positioning
start auxiliary
signal
Completion of positioning to the command position is confirmed.