PfofiBus Gateway
(3) Operation by position number specification
Positioner operation in the position number specification mode or command specification mode is
explained.
Operation
The actuator is operated by specifying position data in the controller’s position table beforehand, and
specifying a desired position number using the link register in the PLC.
The push-motion operation, speed change during movement, pitch feed by incremental coordinate
specification, etc., are the same in PIO (I/O cable) operation. Refer to the operation manual for your
PCON, ACON, SCON or ERC2.
[1] Set the position number in the command position number register.
[2] Next, turn the start command (CSTR) signal “1” (ON) after confirming that the positioning
complete (PEND) signal is “1” (ON).
[3] PEND turns “0” (OFF) tdpf after CSTR has turned “1” (ON).
[4] Turn CSTR “0” (OFF) after confirming that PEND has turned “0” (OFF).
[5] MOVE turns “1” (ON) simultaneously as PEND turns “0” (OFF) or within 1 Mt thereafter.
[6] When the remaining travel falls within the positioning band (INP), PEND turns “1” (ON) if CSTR
is “0” (OFF), and then the completed position number is output.
Accordingly, when reading the completed position number upon completion of positioning, check
the position number after waiting for an appropriate period (time needed to complete the
remaining travel) after PEND has turned “1” (ON).
Caution
•
When the start (CSTR) signal turns “1” (ON), the positioning complete (PEND) signal turns “0”
(OFF) and moving (MOVE) signal turns “1” (ON).
Be sure to turn the CSTR signal OFF after confirming that PEND has turned OFF while the CSTR
signal is still ON.
If CSTR remain ON, PEND will not turn ON even after the actuator completes its movement, as
shown below.
•
If a movement command is issued to the same position, the positioning complete output will turn
OFF, but the moving output will not turn ON.
•
The moving output turns OFF the moment the positioning complete output turns ON, even when
the actuator is still moving. Accordingly, increasing the positioning band specified by the position
data may result in a situation where the moving signal turns OFF the moment the positioning
complete output turns ON, but the actuator may be still moving.
•
When a soft limit is reached after continuous incremental moves, the actuator will stop at that
position and then the positioning complete signal will be output.
Start
Positioning
complete
Moving
Actuator
Movement complete
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