IAI America PCON-CFA - Manual (Page 245)

5. SCON-CA
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239
5.9 Operation
The timings for the basic operation examples in the Position/Simplified Direct Value Mode 1 and 2, Half Direct
Value Mode 1 to 3 and Full Direct Value Mode, are described.
For the Remote I/O Mode 1 to 3, refer to the instruction manual for the controller main body.
(Read from the PLC register the current position, command current or force feedback data in remote I/O
modes 2 and 3 on your demands.)
(1) Operation in the Position/Simplified Direct Value Mode 1 and 2
It is operated with the position data written in the PLC's register and the speed, acceleration /
deceleration, positioning width and pressing current limit value, etc. set using the position table.
z
Operation Example (General Positioning Operation)
(Preparation) Set the position data items (speed, acceleration/deceleration, positioning width, etc)
except for the target position item, in the position table.
Turn ON the Position/Simplified Direct Value Change-Over Signal (PMOD).
1) Set the target position data in the target position register.
2) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in the
setup position No. register.
3) In the condition where the positioning completion (PEND) signal is turned “ON” or, Under
Movement (MOVE) signal is turned “OFF”, turn “ON” the Positioning Start (CSTR) signal.
The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of the
CSTR signal.
4) After the CSTR signal is turned “ON”, the PEND signal is turned OFF after tpdf.
5) After confirming that the PEND signal is turned “OFF” or MOVE signal is turned “ON”, turn “OFF”
the CSTR signal. Do not change the value in the target position register until the CSRT signal is
turned “OFF”.
6) At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
7) The current position data is continuously updated. When the remaining travel distance becomes
within the range of the positioning width set in the position data, and the CSTR signal is turned
“OFF”, the PEND signal is turned “ON”. Then, the completed position No. is output to the
completed position No. register.
Accordingly, for the read of the completed position No. register when the positioning is completed,
confirm it some time (Remaining Travel Distance Movement Time) after the PEND signal is turned
“ON”.
The current position data might be changed slightly even when the system is stopped.
8) The target position data can be changed during the actuator movement.
In order to change the target position, change the target data and turn ON the CSTR signal after
the time longer than the PLC scanning time has passed.
Change the value for the CSTR signal after the time longer than the PLC scanning time has
passed.
z Operation Example (Pressing Operation)
For the pressing operation, the current limit value is set in the pressing data box on the position data
at the preparation stage.
When the positioning is performed onto the position No. for which the value is set in the pressing
data box, the pressing operation is performed.