IAI America REXT - Manual (Page 183)


Part 1 Specification
Chapter 3 Gateway R unit
159
Part 1 Specification
[1] Procedure
In the direct numerical specification mode, the actuator is operated by writing data to the axis control signal registers
(position data, positioning band, speed, acceleration/deceleration, push-current limiting value, control signals).
Operation is started when the start (CSTR) signal changes from “0” to “1.” Items to note regarding this process are
listed below.
z The control signal register has been cleared to zero after the initialization following the power on.
z The default controller parameters are not referenced.
z In normal operation, the axis will not operate unless position data, positioning band, speed and
acceleration/deceleration are all written to the registers. (If any one of these data is missing, an alarm 085 will
generate.)
z In push operation, push-current limiting value must also be written in addition to the above data.
z Even after all data has been written, the axis will not operate unless the CSTR signal is changed from “0” to “1.”
z Once all data has been written to the registers, you can change desired data only and change the CSTR signal from
“0” to “1” to operate the axis based on the new data.
Even if the above change is made while the axis is operating, the axis will start operating based on the new data the
moment the CSTR signal is changed from “0” to “1.”
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