IAI America PCON-CA - Manual (Page 18)

POWER CON
PCON-CA/CFA
10
10. Limitations on operation of rotary actuator in index mode
Rotary actuators of 360-degree specification can select the normal mode for finite rotations or
the index mode enabling multi-rotation control by using parameter No.79 “Rotational axis mode
selection”. [Refer to Chapter 7 I/O Parameter.]
The following limitations are applied to the index mode:
1) Index Mode cannot be selected in Pulse Train Control Mode.
2) In the JOG or Inching Operation using a teaching tool such as PC software or using PIO
signal, the range of 1 time of command is 360q at maximum for JOG while 1q at maximum
for Inching.
3) Pressing is unavailable. The pressing torque can only be set to 0.
4) Do not issue positioning command around 0qrepeatedly during movement near 0q. Failure
to follow this may cause the actuator to rotate in the direction reverse to the specified
rotation direction or operate indefinitely.
5) Software stroke limit is invalid in the index mode.

11. Transference of PIO Signal between Controllers
Please note the following when conducting transference of PIO signal between controllers.
To certainly transfer the signal between controllers with different scan time, it is necessary to
have longer scan time than the one longer than the other controller. To ensure to end the
process safely, it is recommended to have the timer setting more than twice as long as the
longer scan time at least.
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Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrongly.
Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan
periods to wait.) Make sure not to have the output side to change the output until the other side completes
the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to
prevent a wrong reading of noise. This duration also needs to be considered.
This controller
(scan time 1msec)
PLC
(e.g. scan time is 20msec)
Output
Process
Input
Process
As shown in the diagram, the input and output
timings of two devices that have different scan
time do not match, of course, when transferring
a signal.
There is no guarantee that PLC would read the
signal as soon as this controller signal turns on.
In such a case, make the setting to read the
signal after a certain time that is longer than the
longer scan time to ensure the reading process
to succeed on the PLC side.
It is the same in the case this controller side
reads the signal.
In such a case, it is recommended to ensure 2
to 4 times of the scan time for the timer setting
margin.
It is risky to have the setting below the scan
time since the timer is also processed in the
scan process.
In the diagram, PLC can only read the input
once in 20msec even though this controller
output once in 1msec.
Because PLC only conducts output process
once in 20msec, this controller identifies the
same output status for that while.