2.2 Pulse Train Control Mode (SCON-CA Type) ························································ 67
2.2.1 Wiring Diagram (Connection of Construction Devices) ···································· 67
2.2.2 I/O Signals in Pulse Train Control Mode······················································· 69
2.2.3 Circuit Diagram ······················································································ 70
[1] Main Power Circuit ················································································· 70
[2] Brake Power Supply Circuit ······································································ 70
[3] Emergency Stop Circuit ··········································································· 71
[4] Motor • Encoder Circuit············································································ 72
[5] PIO Circuit ···························································································· 73
[6] Circuits for Pulse Train Control ·································································· 74
[7] Regenerative Units Circuit········································································ 75
2.3 Wiring Method ······························································································ 76
2.3.1 Wiring of Power Circuit············································································· 76
2.3.2 Wiring for Emergency Stop Circuit (System I/O)············································· 78
2.3.3 Connection to Actuator············································································· 79
2.3.4 Connection of PIO··················································································· 82
2.3.5 Connection of Pulse Train Signal (Dedicated for SCON-CA)····························· 83
2.3.6 Connectable Regenerative Units ································································ 86
2.3.7 SIO Connector Connection ······································································· 88
Chapter 3 Operation ······················································································ 89
3.1 Basic Operation ···························································································· 89
3.1.1 Basic Operation Methods ········································································· 89
3.1.2 Parameter Settings ················································································· 90
3.2 Operation in Positioner Mode··········································································· 91
[1] PIO Pattern Selection and Main Functions ·······················································92
[2] Overview of major Functions ·········································································93
[3] Operation modes of rotary actuator in multiple rotation mode and command
limitations ·································································································93
3.2.1 Set of Position Table (This section is not required in selection of pulse train
control mode.)························································································ 94
3.2.2 Control of Input Signal ············································································100
3.2.3 Operation Ready and Auxiliary Signals = Common to Patterns 0 to 7 ················ 100
[1] Emergency stop status (EMGS)································································100
[2] Operation Mode (RMOD, RMDS)······························································ 101
[3] Servo ON (SON, SV, PEND)····································································102
[4] Home Return (HOME, HEND, PEND, MOVE) ············································· 103
[5] Zone Signal and Position Zone Signal (ZONE1, PZONE)······························· 106
[6] Alarm, Alarm Reset (*ALM, RES)······························································108
[7] Binary Output of Alarm Data Output (*ALM, PM1 to 8)···································109
[8] Brake release (BKRL) ············································································ 111
[9] Battery Alarm (*BALM) ··········································································· 111
3.2.4 Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 and 6 ···· 112
[1] Positioning [Basic] (PC1 to PC**, CSTR, PM1 to PM**, PEND, MOVE, LOAD,
TRQS) ································································································ 112
[2] Speed change during the movement ························································· 117
[3] Pitch Feeding (relative movement = incremental feed)··································· 118
[4] Pressing operation ················································································120
[5] Tension Operation ·················································································126
[6] Multi-step pressing ················································································ 128
[7] Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-)·············129
[8] Pause and Operation Interruption (*STP, RES, PEND, MOVE)························131
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