IAI America PCON-CFA - Manual (Page 66)

3. SCON-CA/CF
A
60
(16) Teaching mode command (MODE) PLC output signal
Teaching mode signal (MODES) PLC input signal
When the MODE signal is turned ON, the normal operation mode switches to the teaching mode.
When the mode switches to teaching, the controller of each axis turns ON the MODES signal.
The PLC should perform teaching operation after confirming that the MODES signal has turned ON.
(Note) For the normal operation mode to switch to the teaching mode, the following conditions must be satisfied:
x The actuator (motor) is stopped.
x The +jog (JOG+) and -jog (JOG-) signals are OFF.
x The position data read command (PWRT) signal and positioning start (CSTR) signal are 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 valid when the teaching mode signal (MODES) is ON.
Turn the PWRT signal ON (*1). This causes the current position data to be written to the Position field of the
position number currently set under the position number specified by the PLC (refer to 3.4.1). (*2)
When the writing is completed, the WEND signal turns ON.
The host PLC should turn the PWRT signal OFF after the WEND signal has turned ON.
If the PWRT signal is turned OFF before the WEND signal turns ON, the WEND signal will not turn ON.
Turning the PWRT signal OFF causes the WEND signal to turn OFF.
(*1) Keep the signal ON for 20 msec or more. If the signal is turned on for less than 20 msec, the data may not be
written.
(*2) If any data other than position is yet to be defined, the default value of the corresponding parameter is 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.
MODES
(ACON, PCON
oPLC)
PWRT
(PLC oACON, PCON)
WEND
(ACON, PCON oPLC)
20 msec or more