IAI America PCON-CFA - Manual (Page 148)

4. SCON-CA
142
4.6 Operation
Next, timings in the position/simple direct mode, half direct mode and full direct mode are explained using
examples of basic operations.
For the remote I/O mode and remote I/O mode 2, refer to the operation manual for the controller.
(In remote I/O mode 2, read the current position and current speed from the PLC as deemed necessary.)
(1) Operation in the position/simple direct mode
Operate the actuator by writing the position data to the PLC’s target position, while specifying the speed,
acceleration/deceleration, positioning band, push-current limiting value, etc., in the position table.
z Example of operation (normal positioning operation)
(Preparation) Set all position data other than the target position (speed, acceleration/deceleration, positioning
band, etc.) in the position table.
Turn the position/simple direct switching (PMOD) signal ON.
[1] Set the target position data for the target positions (*) corresponding to output addresses n and n+1.
[2] Set the position number for which the speed, acceleration/deceleration, etc., have been set for the specified
position number corresponding to output address n+2 (*).
[3] Turn the positioning start (CSTR) signal ON while the positioning complete (PEND) signal is ON or moving
signal (MOVE) is OFF.
The data set in [1] and [2] are read by the controller at the leading edge of the CSTR signal.
[4] The CSTR signal turns ON and PEND turns ON tpdf thereafter.
[5] Turn the CSTR signal OFF after confirming that the PEND signal has turned OFF or MOVE signal has turned
ON. Do not change the target value (*) until the CSTR signal is turned OFF.
[6] The MOVE signal turns ON simultaneously as the PEND signal turns OFF.
[7] The current position data (*) in input addresses n and n+1 are constantly updated. When the remaining travel
falls within the positioning band set by the position data table, the PEND signal turns ON if the CSTR signal
is OFF, upon which the completed position number is output to the completed position number (*)
corresponding to input address n+2.
Accordingly, wait until the PEND signal turns ON and an appropriate time (time to move the remaining travel)
elapses before reading the completed position number (*) following the completion of positioning.
The current position data may vary slightly due to vibration, etc., even when the actuator is at standstill.
[8] The target position data can be changed while the actuator is moving.
To change the target position, change the target position data, wait until at least the PLC’s scan time elapses,
and then turn the CSTR signal ON.
Change the value of the CSTR signal after an elapse of at least the PLC’s scan time.
z Example of operation (push-motion operation)
In push-motion operation, a current-limiting value is set in the Push field of the position data table in the
“preparation” stage.
When positioning is started by specifying the position number for which the above value has been set in the Push
field, push-motion operation is performed.
(*) Refer to 4.4.1.