IAI America PCON-CFA - Manual (Page 65)

2. ACON-C/CG,
PCON-C/CG
59
(16) Teaching command (MODE) [PLC output signal]
Teaching mode signal (MODES) [PLC input signal]
When the MODE signal is turned ON, the actuator mode will switch from normal operation to teaching.
Upon switching to the teaching mode, the controller of each axis will turn the MODES signal ON.
Program the PLC so that teaching operation will be performed after the MODES signal turns ON.
(Note)
For the actuator mode to switch from normal operation to teaching, the following conditions must be
satisfied:
x The actuator (motor) is stopped.
x The +jog (JOG+) signal and -jog (JOG-) signal are turned OFF.
x The position-data read command (PWRT) signal and positioning start (CSTR) signal are turned OFF.
(Note) The actuator will not return to the normal operation mode unless the PWRT signal is OFF.
(17) Position-data read command (PWRT) [PLC output signal]
Position-data read complete (WEND) [PLC input signal]
The PWRT signal is effective when the teaching mode (MODES) signal is ON.
Turn the PWRT signal ON (*1), and the data of the current position will be written to the “Position” field under the
position number set to the specified position number channel of the PLC. (*2)
The WEND signal will turn ON once reading is complete.
Program the host PLC so that the PWRT signal will be turned OFF after the WEND signal turns ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
When the PWRT signal is turned OFF, the WEND signal will turn OFF.
(*1) Keep the PWRT signal OFF for at least 20 msec. If the signal remains ON for less than 20 msec, the position
may not be written.
(2) If any data other than the position is not yet defined, the default value of the corresponding parameter will be
written. (refer to the operation manual for the controller.)
(18) Forced brake release (BKRL) [PLC output signal]
The brake can be forcibly released by turning this signal ON.
At least 20 msec