IAI RCM-P6AC, Instruction Manual, Page: 158 / 286

3. Operation
Fieldbus Communication
146
RCP6S
3.7.3 Operation for Direct Indication Mode
It is operated with the data set in the PLC's target position register, positioning width register,
setup speed register, acceleration/deceleration register and pressing current limit setup
register.
● Example of operation (Pressing operation)
(Preparation) Set the operation mode to Direct Indication Mode in Gateway Parameter Setting
Tool. [Refer to 3.2.1 Oeration Mode Setting.]
1) Set the target position data in the target position register.
2) Set the positioning width (pressing width) data in the positioning width register.
3) Set the speed data to the speed register.
4) Set the acceleration/deceleration data to the acceleration/deceleration register.
5) Set the pressing current limit data in the pressing current limit value register.
6) Turn ON the pressing setup (PUSH) signal.
7) Specify the pressing direction using the pressing direction setup (DIR) signal.
8) In the condition where the positioning completion (PEND) signal is turned ON or under
movement signal (MOVE) is turned OFF, turn ON the positioning start (CSTR) signal.
The data items set in Steps 1) through 5) are read in the controller at the startup (ON edge)
of the CSTR signal.
9) After the CSTR signal is turned ON, the PEND signal is turned OFF.
10) After confirming that the PEND signal is turned OFF or MOVE signal is turned ON, turn OFF
the CSTR signal. Do not change any value in each register until the CSTR signal has been
turned OFF.
11) The current position data is continuously updated.
12) When the CSTR signal is turned OFF and the motor current reaches the current limit value
set in Step 5), the PEND signal is turned ON. (Pressing complete)
Even when the positioning width (pressing width) set in Step 2) is reached, in the case that
the current does not reach the motor current limit value set in Step 5), the pressing and a
miss (PSFL) signal is turned ON. In this case, the PEND signal is not turned ON. (Pressing
and a miss)
13) After the PEND signal or PSFL signal is turned ON, turn OFF the PUSH signal.
14) MOVE signal turns OFF at the same time as or within 10ms after PEND signal turns ON.
● Example of operation (Normal positioning operation)
For the general positioning operation, set the signal in Step 6) to OFF.
When the remaining travel distance becomes within the range of the positioning width set in the
positioning band resistor, and the CSTR signal is turned OFF, the PEND signal is turned ON.
ME0349-4B