IAI RoboNet, Руководство по эксплуатации

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Part 1 Specification
(7) Six ROBONET operation modes
The ROBONET can operate ROBO Cylinders in one of the following six modes under the control of the GateWayR unit,
regardless of the type of the host fieldbus.
The following three modes under [1] to [3] can be combined together. Also, the three modes under [4] to [6] can be
combined.
However, [1] to [3] and [4] to [6] cannot be combined with each other, i.e. combination of [1] and [4] is not possible.
[1] Positioner mode (Number of positions: 768 points)
In this mode, the actuator is operated by specifying a position number. The position data, speed,
acceleration/deceleration and other data are input in the position table beforehand. Up to 768 points can be
registered as positions for each axis.
The various status signals of the controller unit can be monitored, and so can the current actuator position, but the
alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple
alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area.
[2] Simple direct mode (Number of positions: 768 points)
In this mode, the actuator is operated by specifying only the position data directly as a numerical value, and
specifying all other data including the speed, acceleration/deceleration, positioning band and push-current limiting
value using a position number. Up to 768 points can be registered as positions.
The various status signals of the controller unit can be monitored, and so can the current actuator position, but the
alarm codes, speed and electrical current cannot be monitored. If an alarm occurs, however, a corresponding simple
alarm code will be output to the completed position number area, so you can monitor simple alarm codes in this area.
[3] Direct numerical specification mode
In this mode, the actuator is operated by specifying the position data, speed, acceleration/deceleration, positioning
band and push-current limiting value directly as numerical values. The various status signals of the controller unit,
current actuator position, alarm codes and speed/electrical current can be monitored at all times.
[4] Positioner 2 mode (Number of positions: 768 points)
This mode is the same as the positioner 1 mode.
It cannot be combined with the positioner 1 mode, simple direct mode or direct numerical specification mode. The
positioner 2 mode, Solenoid valve mode 1 and Solenoid valve mode 2 can be combined.
This mode is supported by Gateway Firmware Version 000B or later.
[5] Solenoid valve mode 1 (Number of positions: 7 points)
It is a mode of which the operation is simplified with the positioning numbers controlled to 7 points.
Operation can be performed only by indicating the target position number. (no start signal is required.) Therefore,
PLC ladder sequence circuit is easily created.
[6] Solenoid valve mode 2 (Number of positions: 3 points)
It is a mode with an easy operation like Solenoid valve mode 1. Operation can be performed with the same control as
the solenoid valve.
In the positioner mode or simple direct mode, position table data can be read, written or otherwise manipulated using
dedicated commands.
Even in the AUTO mode, the various information of each axis (alarm codes, speed, electrical current, etc.) can be
monitored on the touch panel display (RCM-PM-01) connected to the TP connector.