IAI America SSEL - Manual (Page 355)

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Part 3 Positioner Mode
„ Axis 2 start (CSTR2)
Axis 2 will start moving to the position corresponding to the specified position data for axis 2 upon
detection of the OFF
o ON leading edge of this signal. Position numbers are specified using, among the
13 bits of PC1 through 13, the remainder of the bits excluding those used for axis 1. Other specifications
are the same as those explained under “Start 1 (CSTR1).”
„ Axis 1 pause (*STP1)
If this signal turns OFF while the actuator is moving, the controller will cause the actuator to decelerate to
a stop.
The remaining travel distance will be held, which means that when the signal turns ON again, the actuator
will resume movement of the remaining travel distance.
To cancel the movement command altogether after turning OFF the pause signal, turn ON the
cancellation signal while this signal is OFF to cancel the remaining travel distance.
The pause signal can be used for the following purposes:
[1] As a sensor to detect entry into a specified area around the system or for other lower-level safety
measures to stop the axis while the servo is on
[2] To prevent contact with other equipment
[3] For positioning based on sensor or LS signal detection
(Note) When this signal is input during home return, the movement command will be held if the actuator
has not yet contacted the mechanical end. If the signal is input after the actuator has reversed
upon contacting the mechanical end, home return will be performed again.
„ Axis 2 pause (*STP2)
If this signal turns OFF while the actuator constituting axis 2 is moving, the controller will cause the
actuator to decelerate to a stop.
The rest is the same as the explanation given under “Axis 1 pause (*STP1),” except that *CANC2 is used
as the signal to cancel the move command.
„ Axis 1 cancellation (*CANC1)
If this signal turns OFF while the actuator constituting axis 1 is moving, the controller will cause the
actuator to decelerate to a stop. The remaining travel will be cancelled and the actuator will not resume
movement even after the signal is turned ON again.
„ Axis 2 cancellation (*CANC2)
If this signal turns OFF while the actuator constituting axis 2 is moving, the controller will cause the
actuator to decelerate to a stop. The remaining travel will be cancelled and the actuator will not resume
movement even after the signal is turned ON again.
„ Axis 1 home return (HOME1)
Axis 1 will stat home-return operation upon detection of the OFF
o ON edge of this signal.
Once the home return is complete, the HEND1 signal will be output. This signal can be input as many
times as desired after completion of the initial home return.
(Note) An actuator of incremental specification must always perform home return after the power is
turned on.
„ Axis 2 home return (HOME2)
Axis 2 will stat home-return operation upon detection of the OFF
o ON edge of this signal.
Once the home return is complete, the HEND2 signal will be output. The rest is the same as the
explanation given under “Axis 1 home return (HOME1).”