IAI America PSEL - Manual (Page 336)

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Part 3 Positioner Mode
3. Details of Each Input Signal
 Position inputs 1 through 13 (PC1 through 13)
Thirteen bits of PC1 through 13 are divided into position-number specification bits for axis 1 and
position-number specification bits for axis 2.
Example)
Assume that the parameters are set as follows:
Other parameter No. 71 = 0 (Binary) “Position-number input mode specification”
Other parameter No. 72 = 7 “Specification of position-number input bits for axis 1”
Each position number input for axis 1 is assigned to seven bits of PC1 through 7 (010 through 016), as a
binary code, and position Nos. 1 through 127 can be specified.
Each position number input for axis 2 is assigned to the remaining six bits of PC8 through 13 (017 through
022), as a binary code, and position Nos. 1 through 63 can be specified.
Position numbers for respective axes are specified as shown in the table below, based on the ON/OFF
levels of PC1 through 13.
Also, the input mode can be changed to BCD by changing the setting of other parameter No. 71.
In the BCD input mode, one digit consists of four bits. Since there are 13 position input bits, the total
number of digits assigned to the two axes will become 3.
Assume that the parameters are set as follows:
Other parameter No. 71 = 1 (BCD) “Position-number input mode specification”
Other parameter No. 72 = 8 “Specification of position-number input bits for axis 1”
(Bits are input in units of four.)
Each position number input for axis 1 is assigned to eight bits of PC1 through 8 (010 through 017), as a
two-digit BCD code (position Nos. 1 to 99 can be specified). Specify the one’s place in PC1 through 4, and
ten’s place in PC5 through 8.
Each position number input for axis 2 is assigned to five bits (actually four bits) of PC9 through 13 (011
through 022), as a one-digit BCD code (position Nos. 1 to 9 can be specified).
 Axis 1 start (CSTR1)
Axis 1 will start moving to the position corresponding to the specified position data for axis 1 upon
detection of the OFF
 ON leading edge of this signal. Position numbers are specified using, among the
13 bits of PC1 through 13, the number of bits set in other parameter No. 72. Position numbers are
specified as binary codes according to the factory setting.
Before movement is started, the target position, speed and acceleration/deceleration must be set as
position data. Use a PC (software) or teaching pendant to set position data.
If this signal is input when no single home-return operation has been performed after the power was input
(= when the HEND output signal is OFF), “C6F, Home-return incomplete error” will generate.
Position number specification for axis 2 Position No. Position number specification for axis 1