IAI America REXT - Manual (Page 120)


Part 1 Specification
Chapter 3 Gateway R unit
96
Part 1 Specification
(3) Operation in the Positioner 1 Mode and Positioner 2 Mode
Input position data in the controller’s position table beforehand, and specify a desired position number using a link
register of the PLC.
ڦ Operation
[1] Set the position number in the command position number register.
[2] Next, turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is
“1” (ON).
[3] The PEND turns “0” (OFF) tdpf after the CSTR has turned “1” (ON).
[4] Turn the CSTR “0” (OFF) after confirming that the PEND has turned “0” (OFF).
[5] The MOVE turns “1” (ON) the moment the PEND turns “0” (OFF) or within 1 Mt thereafter.
[6] When the remaining travel distance has become within the specified positioning band (INP), the PEND turns “1”
(ON) if the CSTR is “0” (OFF) and the completed position number is output.
Accordingly, check the completed position number following the completion of positioning after waiting for an
appropriate time after the PEND has turned “1” (ON) (time needed to travel the remaining distance).
Caution
x When the start signal turns ON, the position complete output will turn OFF and the moving output will turn ON.
Always turn the start signal OFF after confirming that the position complete output has turned OFF.
If the start input remains ON, the position complete output will not turn ON after the actuator completes its movement, as
shown below.
x If a move command specifying the same position is issued, the position complete output will turn OFF but the moving
output will not turn ON.
x Even though the actuator is moving, the moving output turns OFF the moment the position complete output turns ON.
Therefore, although increasing the positioning band in the position data will cause the moving output to turn OFF the
moment the position complete output turns ON, the actuator may still be moving.
x When a soft limit is reached through repeated incremental moves, the actuator will stop at that position and the position
complete signal will be output.
Start (CSTR)
Position complete (PEND)
Moving (MOVE)
Actuator
Movement complete
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