IAI America PCON-CA - Manual (Page 117)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
109
 
Caution:
(1) Because pitch feed is repeated, turning ON the ST* signal of the same position after
completion of positioning causes both the PE* and PEND signals to be turned OFF at
operation start and turned ON again at completion of positioning in the same way as [1]
Positioning.
(2) If the actuator reaches the software limit (stroke end) in pitch feed, the actuator is
decelerated to be stopped and current position No. PE* and positioning complete
signal PEND are turned ON at the stop position.
(3) Both the PE* and PEND signals are set to ON in the positioning width zone.
Accordingly, they may be turned ON under operation of the actuator if a large
positioning width is set.
(4) Interlock should be taken so that two or more ST* signals are set to ON simultaneously.
1) Entering the ST* signal of another position during positioning is invalid. If the ST*
signal of another position is turned ON during positioning, the operation is
terminated after the completion of the positioning being operated.
2) Entering the ST* signal of another position with the ST* signal of the current position
remaining ON after the completion of positioning allows the positioning to the other
position to be executed.
(5) If Parameter No.27 “Move command type” is set to “0” (factory setting), turning ST*
OFF during positioning caused the operation to be interrupted.
(6) Note that, when Parameter No.27 “Move command type” is set to “1”, starting (ST* ON)
pitch feed repeatedly during pause causes the actuator to be moved successively by
the number of starts. If this situation is supposed, cancel the remaining moving
distance by turning reset signal RES ON in the pause state or take interlock so that
start signals are not turned on during pause.
(7) The pressing operation is enabled by using the pitch feed function.
(8) In the pitch feed, do not perform a command with a pitch smaller than the minimum
encoder resolution (lead/encoder pulse number) or that less than positioning accuracy
repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete condition, but the
positioning control cannot be performed properly.