IAI RoboNet Operation Manual page 103

(20) Start Position Command (ST0 to ST6) [Solenoid valve mode 1] PLC Output Signal
Upon detection of an OFF → ON rise edge of this signal or detection of the ON level of the signal, the actuator will move
to the target position set in the corresponding position data.
Before executing this command, the target position, speed and other operation data must be set in the position table
using a PC/teaching pendant.
If ON edges of two or more signals are detected at the same time, priority will be given to the position command of the
smallest number among all detected command signals. (Example: If ON edges of ST0 and ST1 signals are detected at
the same time, the actuator will start moving to ST0.)
Although commands are executed upon detection of an ON signal edge, priority is given to the command that was
specified the earliest. In other words, a signal input will not be accepted while the actuator is moving. Even if a different
position signal is turned ON while the actuator is moving, the actuator will not commence moving to the new position
after reaching the target position.
If a movement command is issued when the first home return is not yet completed after the power is turned on, home
return will be performed automatically to establish the coordinates first, after which the actuator will move to the target
position.
(21) Front End Move Command (ST1)
Rear End Move Command (ST0)
Intermediate Point Move Command (ST2) [Solenoid valve mode 2] PLC Output Signal
While this signal is ON, the actuator will move toward the target position.
If the signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
Before executing this command, enter a target position in the "Position" field for position No. 0, 1 or 2 in the position
table.
Input signal
ST0
ST1
ST2 Intermediate point
Table of Input Signal and Command Position
Input signal
ST0
ST1
ST2
ST3
ST4
ST5
ST6
Target Position
Rear end The target position is defined in the "Position" field for position No. 0.
Front end The target position is defined in the "Position" field for position No. 1.
The target position is defined in the "Position" field for position No. 2.
Command position
Position No.0
Position No.1
Position No.2
Position No.3
Position No.4
Position No.5
Position No.6
Remarks
Part 1 Specification
83