IAI America PCON-CFA - Manual (Page 153)

4. PCON-CA/CF
A
CC-Link
147
(4) Data Change during the Movement
In the Half Direct Value Mode and the Full Direct Value Mode, the change of any data set using the
output data register, out of the target position data, speed data, positioning width, and current limit value
during the pressing, during the movement is available. After changing the data, turn “ON” the
positioning command (DSTR) for more than tdpf.
Also, after turning “OFF” the DSTR, set aside some time for “twcsON + twcsOFF” or more, until the
next DSTR is turned “ON”.
The example is shows as follows, where the speed and acceleration/deceleration data items have been
changed.
twcsON • Yt + Xt + 2 (msec)
twcsOFF • Yt + Xt + 2 (msec)
*Yt + Xt ” tpdf ” Yt + Xt + 2 (msec)
Caution : 1. When the speed has not been set or it is set to “0”, the actuator is not moved, but an alarm
is not issued.
2. When the speed setting is changed to “0” during the movement, the actuator is decelerated
and stopped, but an alarm is not issued.
3. Even when the acceleration/deceleration data only is changed during the movement, the
setting of the target position data is required.
4. Even when the target position data only is changed during the movement, the setting of the
acceleration/deceleration data is required.
Speed and Acceleration/
Deceleration Data
Set Value
(PLC → PCON)
Actuator
Speed
Speed n2
Speed n3
DSTR
(PLC → PCON)
PEND
(PCON → PLC)
MOVE
(PCON→ PLC)
≥0