IAI America PCON-CFA - Manual (Page 243)

4. SCON-CA
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(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 is changed to the teaching mode.
When the mode for the controllers for each actuator is changed to the teaching mode, the MODES signal is
turned ON.
After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
(Note) In order to change the normal operation mode to the teaching mode, the following conditions are
required.
x The actuator operation (motor) is stopped.
x The + JOG (JOG+) signal and – JOG (JOG-) signal are turned “OFF”.
x The Position Data Import Command (PWRT) Signal and Positioning Start (CSTR) Signal are turned
“OFF”.
(Note) When the PWRT signal is not turned OFF, the mode is not returned to the normal operation mode.
(17) Position data import command (PWRT) PLC output signal
Position data import complete (WEND) PLC input signal
The PWRT signal is available when the teaching mode signal (MODES) is turned “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 resister of the PLC (*2).
When the data writing is completed, the WEND signal is turned “ON”.
After the WEND signal is turned ON, turn OFF the PWRT signal in the host machine.
When the PWRT signal is turned ON before the WEND signal is turned “ON”, the WEND signal is not
turned “ON”.
When the PWRT signal is turned “OFF” the WEND signal is also turned “OFF”.
(*1) Turn it on for 20msec or more. If the time is shorter than 20msec, the writing is not completed.
(*2) When the data items except for the position have not been defined, the parameter initial values are
written.(Refer to the Operation Manual for the controller main body)
(18) Forced brake release (BKRL) PLC output signal
Turning this signal “ON” can release the brake forcibly.
20 msec or more