IAI America PCON-CFA - Manual (Page 76)

2. ACON-C/CG,
PCON-C/CG
70
2.8 Operation
The timings for the basic operation examples in the Position/Simplified Direct Value Mode, Half Direct Value
Mode and Full Direct Value Mode, are described.
For the Remote I/O Mode and Remote I/O Mode 2, refer to the Operation Manual for the controller main
body.
(In remote I/O mode 2, read the current position and current speed from the respective byte of the PLC, as
deemed appropriate.)
(1) Operation in the position/simple-direct mode
It is operated with the position data written in the PLC's register and the speed, acceleration /deceleration,
positioning band and pressing current limit value, etc. set using the position table.
z Example of operation (normal positioning operation)
(Preparation) Set the position data items (speed, acceleration/deceleration, positioning band, 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.
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 CST signal is turned “ON”, the PEND signal is turned OFF after tdpf.
[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 band 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 Example of operation (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.