IAI Rcon, Instruction Manual, Page: 226 / 838

3.8 I/O Signals
A3-123
ME0384-4A
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[Simple direct mode/positioner 1 operation]
Set the target position data to PLC position data specification register (in simple direct mode) or
register the target position to the RCON position table (in positioner 1 mode), and register other
data such as speed, acceleration/deceleration, positioning width and push-motion force in the
position table for operation.

Operation example (normal positioning operation in simple direct mode)
<Preparation> Using the gateway parameter configuration tool, set the axis number to be used in
the simple direct mode. For details, refer to "3.9 Gateway Parameter
Configuration Tool / Operation mode setting" (page A3-164).
Register the position data (speed, acceleration/deceleration, push width, etc.)
other than the target position in the position table.
(1) Set the target position data in the position data specification register.
(2) Register the position No. for which the speed, acceleration/deceleration and the like are set
in the command position No. register.
(3) While the positioning complete signal PEND is ON or the moving signal MOVE is OFF, turn
ON the positioning start signal CSTR
The data set in (1) and (2) are read into the RCON at the rising edge of the CSTR signal.
(4) After the CSTR signal is turned ON, the PEND signal turns OFF after Tpdf.
(5) Confirm that the PEND signal is OFF or the MOVE signal is ON, then turn OFF the CSTR
signal. However, be sure to set an interval of 10 ms or more from CSTR signal ON until
signal OFF. Do not change the value of each register until the CSTR signal is turned OFF.
(6) The present position data is constantly being updated.
(7) When the remaining travel distance of the actuator enters the positioning width range set in
the position data, the PEND signal turns ON when the CSTR signal is OFF, and the
complete position number is output to the complete position number register.
The present position data may slightly change due to vibration or the like even while it is
stopped.
(8) The target position data can be changed while traveling.
To change the target position, change the target position data and turn ON the CSTR signal
once the PLC scan time has elapsed.
Turn OFF the CSTR signal after satisfying the same conditions as (5) above.

Operation example (push-motion operation)
For push-motion operation, set the current limit value in the push-motion force field and push
width in the positioning width field of the position table in the <Preparation> step. If positioning is
performed on this set position No., push-motion operation will be activated.