IAI RCM-P6AC, Instruction Manual, Page: 157 / 286

3. Operation
Fieldbus Communication
145
RCP6S
3.7.2 Operation for Positioner 1/Simple Direct Modes
If the position data is written to the target position register (for Simple Direct Mode) or the target
position is set in the position data of RCP6S GW (for Positioner 1 Mode), the operation shall be
made with other information, such as the speed, acceleration/deceleration, positioning width,
pressing force, etc., set to the position data.
● Example of operation (Normal Positioning Operation with Simple Direct Mode)
(Preparation) Set the operation mode to Simple Direct Mode in Gateway Parameter Setting Tool.
[Refer to 3.2.1 Oeration Mode Setting.]
Set the position data items (speed, acceleration/deceleration, pressing width, etc)
except for the target position item, in the position table.
1) Set the target position data in the target position register.
2) Set the position No. where the speed and acceleration/deceleration, etc., have been set, in
the setup position No. register.
3) In the condition where the positioning completion (PEND) signal is turned ON or under
movement signal (MOVE) is turned OFF, turn ON the positioning command (CSTR) signal.
The data items set in Steps 1) and 2) are read in the controller at the startup (ON edge) of
the CSTR signal.
4) After the CSTR signal is turned ON, the PEND signal is turned OFF.
5) After confirming that the PEND signal is turned OFF or MOVE signal is turned ON, turn OFF
the CSTR signal. Do not change the value in the target position register until the CSTR
signal is turned OFF.
6) At the same time when the PEND signal is turned OFF, the MOVE signal is turned ON.
7) The current position data is continuously updated. When the remaining travel distance
becomes within the range of the positioning width set in the position data, and the CSTR
signal is turned OFF, the PEND signal is turned ON. Then, the completed position No. is
output to the completed position No. register.
Accordingly, for the read of the completed position No. register when the positioning is
completed, confirm it some time (Remaining Travel Distance Movement Time) after the
PEND signal is turned ON.
The current position data might be changed slightly even when the system is stopped.
8) MOVE signal turns OFF at the same time as or within 10ms after PEND signal turns ON.
9) The target position data can be changed during the actuator movement.
In order to change the target position, change the target position data and turn ON the
CSTR signal after the time longer than the PLC scanning time has passed.
Change the value for the CSTR signal after the time longer than the PLC scanning time has
passed.
● Example of operation (Pressing operation)
For the pressing operation, set the current limit to the pressing force box and pressing width to
the pressing width box in the position data at the stage of (preparation). By conducting a
positioning operation towards the set position number, the actuator performs a pressing
operation.
ME0349-4B