IAI America REXT - Manual (Page 124)

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Part 1 Specification
Chapter 3 Gateway R unit
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Part 1 Specification
(5) Operation in the Direct Numerical Specification Mode
In this mode, the actuator is operated by writing the target position data, acceleration/deceleration data, speed data,
push-current limiting value data and positioning band data to link registers in the PLC, without using the position table of
the controller.
With push operation, set all of the above data.
With normal positioning operation, the push-current limiting value data, PUSH signal and DIR signal are not required
among the data set for push operation.
Take note that with either operation, the actuator will not operate unless all necessary data are set.
„ Operation
[Push operation]
[1] Set the push start position data in the position data specification register.
[2] Set the speed data until the push start position in the speed specification register, and set the applicable
acceleration/deceleration data in the acceleration/deceleration register. Take note that if
acceleration/deceleration is not set, the setting of parameter No. 9, “Default acceleration/deceleration” will not be
applied.
[3] Set the distance traveled in push operation in the positioning band specification register. *
[4] Set in the push-current limiting value register the push-current limiting data for setting the push force.
[5] Turn the PUSH (push operation mode specification) signal “1” (ON).
[6] Select the push direction using the DIR (push direction specification) signal.
Push operation is performed in the direction opposite home return direction when the DIR signal is “1” (ON), or in
the home return direction when the DIR signal is “0” (OFF).
[7] Next, turn the start command signal (CSTR) “1” (ON) after confirming that the position complete signal (PEND) is
“1” (ON).
The data set in [1] to [4] is loaded to the controller at the “0” (OFF) Æ “1” (ON) edge (leading edge) of the CSTR.
[8] The PEND turns “0” (OFF) tdpf after the CSTR has turned “1” (ON).
[9] Turn the CSTR “0” (OFF) after confirming that the PEND signal has turned “0” (OFF) or MOVE signal has turned
“1” (ON).
[10] The MOVE turns “1” (ON) the moment the PEND turns “0” (OFF) or within 1 Mt thereafter.
[11] When the motor current reaches the push-current limiting value set in [4] during push operation while the CSTR
is “0” (OFF), the PEND will turn “1” (ON). (Push operation is completed.)
If the motor current does not reach the push-current limiting value set in [4] even after the actuator has reached
the positioning band set in [3], the PSFL (missed work part in push operation) signal will turn “1” (ON). In this
case, the PEND will not turn “1” (ON). (The work part was missed.)
[12] The current position data is constantly updated.
[13] Turn the PUSH “0” (OFF) after the PEND or PSFL has turned “1” (ON).
* Take note that if positioning band specification data is not set, the setting of parameter No. 10, “Default positioning
band” will not be applied.
[Normal positioning operation]
With normal positioning operation, the PUSH signal remains “0” (OFF) in [5] above. The setting of push-current
limiting value in [4] is not required, either.The PEND turns “1” (ON) once the remaining travel distance has become the
data range set in [3] as the positioning band while the CSTR is “0” (OFF).
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