SPA Actuator with Intelli-Motion™ Technology Manual R00
May 2022
Page 31 of 48
4.2.7 Control Modes
The iSPA with Intelli-Motion has two main control modes, “Discrete” mode and “GOTO” mode. These two modes work
very similar to the way a discrete model and an analog model would work, with the many benefits of EthernetIP. The
ControlMode variable in the UDT/control message sets which control mode will be active.
There are three valid values, including the “no movement” state, 0. If the process or application is at a temporary halt,
activate this mode as an additional step to prevent movement.
WARNING: THIS STEP IS NOT A VALID SUBSTITUTE FOR AN EMERGENCY STOP.
The “Discrete” control mode, where the unit is controlled with Enable, Extend, and Retract signals, can be activated by
setting the ControlMode tag to 1. This control mode allows an operator or controller to move the actuator with valid
Enable and Extend or Enable and Retract signals, within the limits.
Activate the “GOTO” mode by setting the ControlMode tag to 2. This control mode allows a controller to send a position
directly to the actuator. In “GOTO” mode, when the actuator is not faulted, the actuator will move to the received
TargetPosition when the Enable signal is on and a valid TargetPosition is received.
4.2.8 Control Values for All Modes
There are several control values that must be set for movement to occur in any moving ControlMode. A valid speed,
active/selected limit values, limit pair selector, speed control limits, and ControlMode are necessary. The UDT (explained
in previous sections), is an ideal way to set values directly and let the COP instruction load them into the output message.
The tags referenced in this section are from the provided UDT.
Table 4-1: iSPA with Intelli-Motion Control Message Data (PLC to iSPA)
The Speed tag is set with a value in units of Hz x100. For example, the standard operating speed is 60Hz. To operate the
actuator at 60Hz, the Speed tag would be set to 6000. The speed must be within the speed control limits.
Control Message Data
Data Necessary For Movement
Discrete Mode
GOTO Mode
Speed
X
X
Limits[4].Extend
.Retract
Only active limit must have values. If End-of-Stroke is selected
(Act.Lim.Pair Sel. == 0), the limit values can be 0.
Active Limit Pair Selector
X
X
Speed Control Limits
(upper and lower)
X
X
Control Mode
X
X
ControlBits.Enable
X
X
ControlBits.Extend,
.Retract
“Discrete” Mode Controls
n/a
TargetPosition
n/a
X
