IAI America ASEL - Manual (Page 348)

Part 3 Positioner Mode
Chapter 4 2-axis Independent Mode
326
Part 3 Positioner Mode
5.3 Movements through Positions
Timings of how the actuator moves through positions are illustrated below. The figures in parentheses
indicate port numbers for axis 2.
Timing Chart of Movement through Positions (Standard Positioner Mode)
Ti: At least 6 msec
Operate the actuator to move through positions by following the procedure explained below.
* Confirm beforehand that the positioning complete output signal, home-return complete output signal and servo-ON
status output signal are all ON.
[1] Change the previous position number input (BCD input) to a different position number .
[2] Turn ON the start input signal.
[3] Confirm that the positioning complete output signal is OFF.
[4] Turn OFF the start input signal.
[5] Confirm that the positioning complete output signal is ON.
Repeat steps [1] through [5] sequentially.
* Pause and *cancellation inputs are contact-B input signals (always ON), so keep these signals ON while the
actuator are moving through the specified positions.
* While the actuator is moving to the target position, only the pause or cancellation input is accepted. The servo
cannot be turned off even if the servo ON input signal is turned OFF. (The servo can be turned off only when the
positioning complete output signal is ON.)
* While the start input signal is ON, the positioning complete output signal will not turn ON even after the actuator
physically completes moving to the target position. Therefore, always turn OFF the start input signal ([4]) to detect
the completion of positioning.
* As for the positioning complete output signal and push-motion complete output signal, they will not be output until
the start signal turns OFF (based on the I/O control handshake rules).
* For the actuator to operate upon start signal input, the servo ON input signal must be ON. If the servo ON input
signal is OFF, these operation commands will not be accepted. Note, however, that only the commands will be
ignored and no error will generate.
Input
Output
Start
Servo ON
Position input
Alarm
Ready
Positioning complete
Home return complete
Servo ON status