IAI America ERC - Manual (Page 97)

77
[Operation timings]
Note: Movement commands are executed based on the rise edge, so input each signal continuously
for 6 msec or more.
If two or more movement commands are input simultaneously, they will be executed according
to the following priorities:
Priorities: [1] Rear end, [2] Front end, [3] Intermediate point
The sequence circuit on the PLC side must ensure only one command is input at a time.
Rear end move
Intermediate point move
Front end move
Rear end complete
Intermediate point complete
Front end complete
Speed
Actuator movement
Mechanical
end
Front end Home
position
Rear end Intermediate point