IAI America ERC3 - Manual (Page 247)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
237
 
Caution: (1) At occurrence of an alarm in the release level Note 1 , RES can reset the
alarm. Cancel the remaining moving distance after confirmation that
alarm signal *ALM (being ON in normal state and OFF at occurrence
of an alarm) is set to ON.
Note 1: [Refer to 4.4 Alarm List for details of alarms.]
(2) Turning *STP OFF with the actuator being in the positioning
complete state causes PE* and PEND to be turned OFF. Note that
this situation may not occur when a sequence program is created.
II. Use of start signal ST*
„ Control method
For PIO converter, it is available to pause the operation if turning OFF the start signal ST*
during the operation.
Use the control method for interlock in case where an object is invaded into the moving
direction of the actuator being moved.
1) If the ST* signal is turned OFF during movement, the actuator is paused. The deceleration
is the value set in the position table.
2) Turning the ST* signal OFF causes the positioning to be interrupted and deemed complete
signal PEND to be turned ON.
3) If the ST* signal is turned ON again, the remaining movement is continued. The
acceleration is the value set in the position table.
Before
operation
Positioning
complete state
Operation
Temp.
stop
Cont.
Op.
Position
complete
Start signal
ST*
(PLCoController)
Positioning completion signal
PEND
(ControlleroPLC)
Operation of actuator
PE* not
turned ON
Current position No.
PE*
(ControlleroPLC)
PEND turned
ON
Velocity
Positioning
Completion
Signal Output
1) 2) 3) 4) 5)
1) 3) 4) 5)
2)
Deceleration
and stop with
Start signal for
position 1
tuirned OFF
Movement
restart with
Start signal for
position 1
tuirned ON