IAI Rcon, Instruction Manual, Page: 228 / 838

3.8 I/O Signals
A3-125
ME0384-4A
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[Operation in positioner 2, 3, and 5 modes]
Register the target position, speed, acceleration/deceleration, positioning width, push-motion
and the like to the RCON position table.

Operation example (positioning operation)
<Preparation> Using the gateway parameter configuration tool, set the axis number to be used
in the positioner 2, 3 or 5 mode. For details, refer to "3.9 Gateway Parameter
Configuration Tool / Operation mode setting" (page A3-164).
Register the position data (target position, speed, acceleration/deceleration etc.)
in the position table.
(1) Register the position No. for which the speed, acceleration/deceleration and the like are set
in the command position No. register.
(2) 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) are read into the RCON at the rising edge of the CSTR signal.
(3) After the CSTR signal is turned ON, the PEND signal turns OFF after Tpdf.
(4) 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.
(5) In positioner 5 mode, the present position data is constantly being updated.
(6) 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.

Operation example (push-motion operation)
For push-motion operation, set the current limit value in the push-motion 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.