77
(5) Direct numeric value designated operation
(Position data, present position data, CSTR, PEND, MOVE, acceleration and
deceleration data, speed data)
This is a function to operate the robo-cylinder by directly writing position data, acceleration and
deceleration data, speed data onto the link register on the PLC without using the position table for the
controller.
Position data designated operation is an effective function when position data limit designated mode
(maximum number of controlled axes, 14 axes), or positioning data designated mode (maximum number
of controlled axes, 7 axes), simple direct value/position No. designated mode (maximum number of
controlled axes, 16 axes) is selected.
And, acceleration and deceleration data and speed data designation are effective functions only when
positioning data designated mode (maximum number of controlled axes, 7 axes) is selected.
■
Function
a. Position data designated operation
This is an effective function when the position data limit designated mode or positioning data
designated mode is selected.
[1] Set target position data onto position data designated register.
[2] Turn ON the CSTR (Start) at the same time as [1] or after that (
≥
0).
Normally, turn ON the CSTR in a state that the PEND (positioning completion) is ON, or the MOVE
(on-moving signal) is OFF.
The target position data is transmitted to the controller at ON edge of the CSTR (at signal startup).
[3] The PEND is turned OFF after the CSTR is ON, and after tdpf.
[4] Turn OFF the CSTR by turning OFF the PEND or turning ON the MOVE (on-moving).
Do not change the target position data until the CSTR is turned OFF.
[5] The MOVE is turned ON at the same time when the PEND is turned OFF or within 1Mt after that.
[6] The present position data is always updated. The PEND is turned OFF when the CSTR is OFF
and remaining movement amount is in a range of the parameter No.10 “Positioning width
(in-position) initial value” for the controller and at the same time when the present position is
updated or within 1Mt after that.
Therefore, check reading of stop position data after positioning is completed in some proper time
(remaining movement amount moving time) after the PEND is turned ON.
Further, the present position data slightly changes due to vibration, etc., even during stop, therefore,
take it into account when handling the position data.
[7] The MOVE is turned OFF at the same time when the PEND is turned ON or within 1Mt after that.
[8] It is possible to change the target position data during movement.
To change the target position during movement, turn ON the CSTR after changing the target
position data (>PLC scan time).
In this case, keep the CSTR ON for tdpf or longer. And take an interval time of 1Mt or longer until
turning ON the next CSTR after turning OFF the CSTR.
Summary of Contents for RCM-GW-CC
Page 1: ...IAI America Inc CC Link RCM GW CC Gateway Unit Operation ManualFirst Edition...
Page 4: ......
Page 10: ...6 1 5 How to identify model RCM GW CC Basic model For CC Link Gateway unit...
Page 12: ...8 2 2 External dimension drawing Mounting dimension...
Page 78: ...74...
Page 82: ...78 Position data measurement value Present position 1 2 3 4 4 5 6 7...
Page 84: ...80 Speed acceleration and deceleration set value Actuator speed Speed n2 Speed n3 1 2 3...
Page 88: ...84 Command position No Completion position No 1 2 3 4 5 6...
Page 91: ...87...
Page 93: ...89...
Page 125: ...121 No 3 Axis 1 pause No 3 Axis 1 pause lamp No 3 Axis 1 STP...
Page 130: ...126...
Page 131: ......
