IAI America MSCON - Manual (Page 220)

3.8 Control and functions of Input and output signals of Remote I/O Mode
212
[3] Positioning [Basic] (ST0 to ST2, LS0 to LS1)
Position No. Input Output
0 ST0 LS0
1 ST1 LS1
2 ST2 LS2
[Caution] Pressing and pitch feed are unavailable.
„ Sample use
No.
Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
0 0.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
1 70.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
„ Control method
1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in the
specified position table for positioning to the target position. Turning the ST* signal OFF on
the way causes the actuator to be decelerated and stopped. So, make the ST* signal remain
ON until the actuator reaches the target position.
2) At the completion of positioning, position detection output LS* of the specified position is
turned ON.
3) Position detection output LS* is turned ON if the remaining moving distance enters into the
positioning width. LS* is set to ON if the current position is located within the positioning
width zone or OFF if the current position is located out of the positioning width zone (the
same situation occurs in the servo OFF status).
4) Leave the ST* signal to be ON until the actuator is moved to another position and turn OFF it
at the next ST* signal. If the ST* signal is turned OFF at the LS* signal, the actuator is
decelerated to a stop in the positioning width and thus the actuator may not reach the target
position. In continuous operation, turn ON the next ST* signal by setting the positioning width
within the required precision range or setting the period taken from detection of the LS*
signal to reaching the target position.
Used for door
open/close
Used for pick & place unit
Work carriage, movement, etc Usage
Deceleration
Position 1
Acceleration
2) 3) 1)
4) 5)
Acceleration Deceleration
Position 2
6)
2) 3) 1) 4) 5) 6)
200mm/sec
100mm/sec
Input start signal
to Position No.1
(Moving start)
Moving
comp.
Positioning
complete signal
of position 1
output
Stop
status
Velocity
Time
Input start signal
to Position No.2
(Moving start)
Moving
comp.
Positioning
complete signal
of position 2
output