IAI America MSCON - Manual (Page 175)

3.7
Control and functions of Input and output signals of Modes other than Remote I/O Mode
Power Supply and Cutof
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(27) Operation for Positioner 2 and Positioner 3 Modes
The operation is to be made with the target position, speed, acceleration/deceleration,
positioning width and pressing force set in the position data of MSCON.
Ɣ Example of operation (Positioning operation)
(Preparation) Set the axis numbers to be used in Positioner 2 or Positioner 3 Mode with
Gateway Parameter Setting Tool. [Refer to 3.2. Initial Setting.]
Set the position data (target position, speed, acceleration/deceleration, etc.) to the
position table.
(Note) If Positioner 3 Mode, have 1) and 2) at the same time.
1) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in
the setup position No. register.
2) In the condition where the positioning completion (PEND) signal is turned ON or under
moving signal (MOVE) is turned OFF, turn ON the positioning start (CSTR) signal.
The data items set in Step 1) is read in the controller at the startup (ON edge) of the CSTR
signal.
3) After the CSTR signal is turned ON, the PEND signal is turned OFF after tpdf.
4) 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 CSTR
signal is turned OFF.
5) At the same time when the PEND signal is turned OFF, the MOVE signal is turned ON.
6) Once the remaining movement amount of the actuator gets into the range of the positioning
width set in the parameter, PEND signal turns ON if CSTR signal is OFF, and the complete
position number is output to the complete position number 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.
MOVE signal turns OFF at the same time as or within 10ms after PEND signal turns ON.
Ɣ Example of operation (Pressing operation)
For the pressing operation, set the current limit to the pressing box and pressing width to the
positioning width box in the position data at the stage of (preparation). By conducting a
positioning operation towards the set position number, the actuator performs a pressing
operation.