IAI America REXT - Manual (Page 122)

00
Part 1 Specification
Chapter 3 Gateway R unit
98
Part 1 Specification
(4) Operation in the Simple Direct Mode
In this mode, position data is written to a link register of the PLC and other data such as speed, acceleration/deceleration,
positioning band and push current-limiting value are specified by a position table.
„ Preparation
Set in the position table all position data (speed, acceleration/deceleration, positioning band, push-current limiting
value, etc.) other than the target position.
„ Operation
[Normal positioning operation]
[1] Set the target position data in the position data specification register.
[2] Set the position number in the command position number register.
[3] Turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is “1”
(ON) or moving signal (MOVE) is “0” (OFF).
The target position data will be read by the controller at the “0” (OFF) Æ “1” (ON) edge of the CSTR (leading edge
of the signal).
[4] The PEND turns “0” (OFF) tdpf after the CSTR has turned “1.”
[5] Turn the CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE signal has turned
“1” (ON).
Do not change the target position data until CSTR turns "0" (OFF)
[6] The MOVE turns “1” the moment the PEND turns “0” (OFF) or within 1 Mt thereafter.
[7] The current position data is constantly updated. When the remaining travel distance has become within the
specified positioning band (INP), the PEND turns “1” (ON) if the CSTR is “0” (OFF).
Accordingly, check the completed position number following the position complete after waiting for an appropriate
time after the PEND has turned “1” (ON) (time needed to travel the remaining distance).
Also note that the current position data may vary slightly due to variation, etc., even when the actuator is stopped.
[8] The MOVE turns “0” (OFF) the moment the PEND turns “1” (ON) or within 1 Mt thereafter.
[9] The target position data can be changed while the actuator is moving.
To change the target position data while the actuator is moving, change the target position data and then wait for
at least the scan time of the PLC before turning the CSTR “1” (ON).
In this case, keep the CSTR “1” (ON) for tdpf or more. Also provide an interval of 1 Mt or more after the CSTR is
turned “0” (OFF) until it is turned “1” (ON) again.
[Push operation]
Push operation is performed by setting the push-current limiting value in the Push field of the position table in the
preparation stage and then performing positioning to the applicable position number.
-122-