IAI America ACON-CY - Manual (Page 76)

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5. Operation Using I/O Signals
z Meaning of Positioning Complete Output Signals (PE0, PE1, PE2)
These signals indicate that the target position has been reached. They turn ON when the following conditions
are met:
[1] The homing complete output signal (HEND) is ON.
[2] The actuator has entered the positioning band before the target position.
Each signal can be used as trigger signal for peripheral equipment when the target position is reached.
Increasing the positioning band quickens the timing of the next command issued to peripheral equipment,
and consequently the tact time becomes shorter.
(Note) If the servo turns off or an emergency stop is actuated while the actuator is standing still at the
target position, the output will turn OFF. When the servo subsequently turns on, the output will turn
ON again if the actuator is still inside the positioning band.
Caution: All position detection outputs will turn OFF once a phase A/B open detection alarm generates.
z Notes on Setting the Positioning Band
The positioning band setting defines the range of coordinates at which the positioning complete output signal
will turn ON.
Condition for a positioning complete output signal to turn ON = The actuator enters the positioning band before
the target position
With a normal move command, once the positioning complete output signal turns ON, the sequence
processing will be performed and the move command input signal will turn OFF.
Take note that if the positioning band is wide and the move command input signal turns OFF too quickly, the
target position may not be achieved.
(Example) If the feed speed is 300 mm/s and deceleration is 0.3 G, the deceleration distance is approx. 15
mm. If the positioning band is set to 30 mm, the positioning complete output signal will turn ON
before the actuator starts decelerating.
If the PLC turns OFF the move command input signal immediately thereafter, the controller will
start the deceleration stop processing.
As a result, the actuator will stop before the target position.
Front end move
command input (ST1)
Front end positioning
complete output (PE1)
Correct starting point
of deceleration
Front end
The actuator stops before
the front end.
Positioning band
The positioning band is greater
than the deceleration distance.