IAI America ACON-CG - Manual (Page 73)

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5. I/O Signal Control and Signal Functions
„ Jog (JOG+, JOG-)
This signal is valid when the teaching mode (teaching type) is selected.
During jogging (JISL is turned OFF), the actuator moves up to ± each software limit if the rise edge from OFF to
ON of this signal is detected.
The actuator decelerates to a stop if the falling edge from ON to OFF of this signal is detected.
The jog speed is defined by parameter No. 26 “PIO jog speed.”
* If the following input signal changes occur during jogging, the controller decelerates to a stop.
[1] Both the JOG+ and JOG- signals are turned ON.
[2] The JISL signal is turned ON (switched to inching)
[3] The CSTR signal is turned ON (a positioning command was input)
During inching (JISL is turned ON), the actuator moves for a distance defined by parameter No. 48 “PIO inching
distance” if the rise edge from OFF to ON of this signal is detected.
If the actuator is performing inching, it continues inching even if this signal is turned OFF.
Caution: If jogging or inching is performed before home return, there is a risk that the controller
may crash against the mechanical end because the software limit check is not enabled.
Use sufficient caution.
„ Direct position command (ST0 to ST6) [Solenoid valve mode 1 (7-point type)]
This signal is valid if the setting value of parameter No. 25 is “4.”
If change of this signal from OFF to ON is detected, the actuator positions itself to the target position of the
corresponding data.
Before positioning, it is necessary to set the target position, speed and other operation data in advance in the
position table using a PC or the teaching pendant.
Moreover, if changes of 2 or more points are detected at the same time, a command is sent to the detected
position command with the smallest number. (For example, if status changes in ST0 and ST1 are detected at the
same time, the controller starts to move to position 0.)
Commands are sent by detecting changes of signal status, but commands are sent on the first-come-first-served
basis and signal inputs during movement are not accepted. Even if a signal for another position is turned ON
during movement, movement to the position is not started even after reaching the target position.
Correspondence table of input signals and command positions
Input signal Command position
ST0 Position No. 0
ST1 Position No. 1
ST2 Position No. 2
ST3 Position No. 3
ST4 Position No. 4
ST5 Position No. 5
ST6 Position No. 6
If a movement command is issued when the first home return is not yet completed after the power was input,
home return will be performed automatically to establish the coordinates first, after which the actuator will move
to the target position.
* There are two methods of detecting status changes of this signal, edge method and level method, which can
be switched by parameter No. 27 (refer to 8.2, “Parameter Detailed Explanation”).