IAI America PCON-CF - Manual (Page 143)

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7. Operation <Practical Steps>
z Meaning of position detected output signals (LS0, LS1, LS2)
These signals are handled in the same manner as limit switches (LSs), and turn ON when the following
conditions are met:
[1] The home return complete output signal (HEND) is ON.
[2] The current position is within the positioning band from each target position in the positive or negative
direction.
Accordingly, these signals turn ON not only when the actuator is moving under a move command, but also
when the actuator is moved by hand with the servo turned off.
In a case where none of these signals (LS0, LS1, LS2) is ON when an emergency stop was actuated while
the actuator was moving, if LS0, LS1 or LS2 must be ON as a condition for resuming actuator operation from
the PLC, move the actuator to any target position.
Caution: These signals will turn OFF if a phase-A/B disconnection detection alarm occurs.
z Notes on positioning band setting
The positioning band setting defines the range within which the position detected output signal turns ON.
Condition for the position detected output signal to turn ON = Target position
r (Positioning band)
With any normal move command, once the position detected output signal turns ON the sequence
processing will be executed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF quickly, the
actuator may not reach the target position.
(Example) When the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance becomes
approx. 15 mm.
If the positioning band is set to 30 mm, the position detected output signal will turn ON before the
actuator starts decelerating.
In this case, promptly turning OFF the move command input signal on the PLC will cause the
controller to initiate the deceleration stop processing.
Depending on the timing, therefore, the actuator may stop before the target position.
Front end move command input
(ST1)
Front end detected output
(LS1)
Where deceleration
should have started
Stops before the
front end.
Front end
Positioning band
The positioning band is
greater than the deceleration
distance.