PCON-C/CG/CF Controller Positioner Type

„ Emergency stop (*EMGS)

This signal remains ON while the controller is normal, and will turn OFF if the emergency stop circuit is cut off.

Program the PLC so that it will monitor this signal and implement appropriate safety measures for the entire system if the signal turns OFF.

„ Load output judgment status (LOAD) * This is a dedicated signal available only with the PCON-CF.

If used in a press-fitting application, the controller must be able to know if the specified load threshold was reached during push & hold operation.

A desired load threshold and check band range are set in the position table, and this signal will turn ON when the command torque exceeds the threshold while the actuator is inside the check band range.

With the LOAD signal, judgment is made based on whether the total duration of periods in which the command torque has exceeded the threshold corresponds at least to a specified time. The specific processing procedure is the same as the one used when determining a completion of push action. The time used for judgment of load output can be changed freely using user parameter No. 50, “Load output judgment time.”

„ Torque level status (TRQS) * This is a dedicated signal available only with the PCON-CF.

If a load threshold is set, this signal will turn ON when the motor current reaches the load threshold while the actuator is moving.

Since the level of current is monitored, the ON/OFF status of this signal will change when the current changes.

In the weak field-magnet vector control used for stepping motors, the balance of current and torque will be lost once a specific speed is exceeded. To use the command current to determine if the threshold has been reached, therefore, the push speed must be limited. Note, however, that the range of permissible push speeds varies depending on the motor and lead, which means that the push speed set in user parameter No. 34 must also be adjusted according to the applicable motor and lead.

„ Output Signal Changes in Each Mode

Mode classification MOVE PEND SV HEND

PM1 ~

PM256

Actuator is stopped with the servo ON after the power was input

Home return is in progress following an input of the home return signal

Home return has completed following an input of the home return signal

OFF ON ON OFF OFF

ON OFF ON OFF OFF

OFF ON ON ON OFF

Actuator is moving in the positioning/push & hold mode ON

Actuator is paused in the positioning/push & hold mode OFF

Positioning has completed in the positioning mode

Actuator has stopped after contacting the load in the push & hold mode

OFF

OFF

OFF

ON

ON

ON

ON

ON

ON

ON

OFF

OFF

ON

OFF ON ON ON ON

Actuator has stopped after missing the load (no load) in the push & hold mode

Actuator is stopped with the servo ON in the teaching mode

Actuator is jogging in the teaching mode

OFF OFF ON ON ON

ON ON ON

Actuator is being moved by hand with the servo OFF in the teaching mode

Servo is OFF after home return

Emergency stop has been actuated after home return

OFF

OFF

OFF

OFF

OFF

OFF ON

OFF

OFF

ON

ON

OFF

(Note) Determine whether the actuator has stopped after contacting the load or missing the load from the signal statuses of MOVE, PEND and PM1 to PM256.

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