IAI PCON-CB series User Manual

4. Operation
4.2 Operation in Positioner Mode
4-12
ME0342-4B
4.2.2 Set of Position Table
(This section is not required in selection of pulse train control mode.)
The values in the position table can be set as shown below. For only positioning, only the
position data may be written if specifying the speed, acceleration, and deceleration is not
required. The speed, acceleration, and deceleration are automatically set to the data defined by
the relevant parameters.
Caution
The input value is treated as the angle for the rotary actuator and lever type gripper.
Therefore;
● [mm] → [deg] ············· 1.2 = 1.2deg
● [mm/s] → [deg/s] ··········· 100 = 100deg/s
Note that the notation is [mm] on the screen of the teaching tool such as PC software.
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
4.2 Operation in Positioner Mode
ME0342-4B 4-13
(1) Position No. :
The number is specified by PLC at start.
Caution
Do not use position No.0 if available positions remains enough.
At the first servo ON after power ON, the completed position No. output is 0 even if the
actuator is not located at position No.0. The actuator enters into the same state as that
at positioning to position No.0. The completed position No. output is 0 during movement
of the actuator. To use position No.0, get the command history by using the sequence
program to check completed position No.0 based on the history.
(2) Position [mm] :
Positioning coordinate value. Enter it as the distance from the home position.
For pitch feed (relative movement = incremental feed), enter the pitch width.
A value with – indicates that the actuator moves toward the home position. A value without
– indicates that the actuator moves to be away from the home position.
Caution
● In the case of a Gripper Type
Set the coordinate value on the single finger basis. Set the moving distance of a single
finger from the home. In the specification, the stroke indicates the total moving distance
of both fingers.
Thus the actual stroke is a half of the value in the specification.
● In the case of a Rotary Type
Set the coordinate value by an angle from the home. Do not use position No.0 if
available positions remains enough.
At the first servo ON after power ON, the completed position No. output is 0 even if the
actuator is not located at position No.0. The actuator enters into the same state as that
at positioning to position No.0. The completed position No. output is 0 during movement
of the actuator. To use position No.0, get the command history by using the sequence
program to check completed position No.0 based on the history.

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English