IAI America PCON-CFA - Manual (Page 253)

4. SCON-CA
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(3) Operation in the full direct mode
The actuator is operated by specifying all conditions required for positioning such as the target position
resister and positioning band resister of the PLC.
z Example of operation (Pressing Operation)
[1] Set the target position data in the target position register.
[2] Set the positioning band data in the positioning band register.
[3] Set the speed data to the speed resister.
[4] Set the position zone output boundary data in the zone boundary + register or zone boundary - register.
[5] Set the acceleration data in the acceleration register.
[6] Set the deceleration data in the deceleration register.
[7] Set the pressing current limit data in the pressing current limit value register.
[8] Set the load current threshold data in the load current threshold setup register.
[9] Turn “ON” the pressing setup (PUSH) signal.
[10] Specify the pressing direction using the pressing direction setup (DIR) signal.(Refer to 4.6.11 (22))
[11] In the condition where the positioning completion (PEND) signal is turned “ON” or under movement
signal (MOVE) is turned “OFF”, turn “ON” the positioning command (DSTR) signal.
The data items set in Steps 1) through 8) are read in the controller at the startup (ON edge) of the
DSTR signal.
[12] After the DSTR signal is turned “ON”, the PEND signal is turned “OFF” after tpdf.
[13] After confirming that the PEND signal is turned “OFF” or the MOVE signal is turned “ON”, turn “OFF”
the DSTR signal. Do not change any value in each register until the DSTR signal has been turned
“OFF”.
[14] At the same time when the PEND signal is turned “OFF”, the MOVE signal is turned “ON”.
[15] The current position data is continuously updated.
[16] When the DSTR signal is turned “OFF” and the motor current reaches the current limit value set in Step
7, the PEND signal is turned “ON” (Completion of push-motion operation)
Even when the positioning band set in Step 2 is reached, in the case that the current does not reach the
motor current limit value set in Step 7, the pressing and a miss (PSEL) signal is turned "ON”. In this
case, the PEND signal is not turned “ON” (Pressing and a Miss).
[17] After the PEND signal or PSEL signal is turned “ON”, turn “OFF” the PUSH signal.
z Example of operation (normal positioning operation)
For the general positioning operation, set the signal in Step 9 to “OFF”.
When the remaining travel distance becomes within the range of the positioning band set in the position
data, and the DSTR signal is turned “OFF”, the PEND signal is turned “ON”.