IAI RoboNet - Page 51

31
Part 1 S
p
ecification
{: Direct control U: Indirect control X: Not available
Simple direct mode Numerical specification mode
{ {
{ Specify position data
(32-bit signed integer).
{ Specify position data
(32-bit signed integer).
U Set in the position table. { Specify speed data (16-bit integer).
U Set acceleration and deceleration in the position table
separately.
{ Specify acceleration/deceleration data (16-bit integer).
U Set acceleration and deceleration in the position table
separately.
{ Since the acceleration/deceleration data is accepted
when the positioning is started, change the
acceleration/deceleration data while the actuator is
moving and restart the operation in order to decelerate
the actuator at a value different from the acceleration.
U Set in the position table.
{ Specify the push-current limiting value (8-bit integer) and
also specify the push direction (DIR) and push mode
(PUSH).
U Combine two or more position numbers.
{ Since the speed data is accepted when the positioning is
started, change the speed data while the actuator is
moving and restart the operation.
{ {
{ Set using the position table and user parameters.
Outputs: PZONE, ZONE1, ZONE2
{ Set using user parameters.
Outputs: ZONE1, ZONE2
X X
{ {
{ {
With the RPCON, set parameter No. 53 to “4” to implement full servo control.
Required Not required