IAI America ERC3 - Manual (Page 224)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
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Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch
feed operation, the actuator stops at the position and positioning complete signal
PEND is turned ON.
(2) Note that, in pitch feed just after pressing operation (to be in the pressing state), the
start position is not the stop position at the completion of pressing but the
coordinate value entered in “Position” of the pressing position data. The movement
to the base point is added to the first pitch feed.
(3) If the position number for pitch feed is started (CSTR ON) during normal positioning,
the actuator moves to the position of the coordinate resulting from adding the pitch
feed distance to the target coordinate of the positioning. Repeating the start of pitch
feed several times allows the pitch feed distance to be added to the target position
by the number of repeats. Do not use the pitch feed function in such a way, because
the PLC cannot confirm the complete position.
(4) Note that, if pitch feed is started (CSTR ON) repeatedly during pause, the actuator
moves continuously by the distance based on the number of starts. In such a case,
cancel the remaining moving distance by turning reset signal RES to ON in the
pause state or take interlock so that the start signal is not turned ON during pause.
(5) At software limit (stroke end) in pitch feed, the actuator is decelerated to be stopped
and positioning complete output PEND is output.
(6) MOVE turns ON at the start of an operation and PEND turns OFF at almost the
same time. MOVE turns OFF when there is no more movement command existing.
Therefore, in the normal stop, PEND turns ON after MOVE is turned OFF, however,
when the positioning width setting is wide, PEND would turn ON even during an
operation of the actuator.
(7) Pressing is enabled by using the pitch feed function. However, do not make control
of changing to pitch feed on the way of normal positioning (before PEND turning
ON). Pressing is interrupted by using the pitch feed function as soon as start signal
CSTR is turned ON. The PLC cannot manage the position of the actuator any more.
Approach operation Pressing operation
Current stop position Base point of pitch feed
Movement to base point of pitch feed +
pitch feed distance
Second and following
pitch feed
= setting value
Return to base point and first pitch feed
Pressing operation
Second and following
pitch feed
= setting value
Pitch feed in reverse pressing operation
Pitch feed in same direction
as pressing operation