IAI America ERC User Manual
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Before executing a command using the start signal, make sure the target position, speed and other operation
data are set in the position table using a PC or teaching pendant.
If a start command is issued when the first home return is not yet completed after the power was input, home
return will be performed automatically to establish the coordinates, after which the actuator will move to the
target position.
Command position number (PC1 to PC8)
When a movement command is effected upon OFF
ON of the start signal, the four-bit binary code consisting
of signals PC1 to PC8 will be read as the command position number.
(Conventional type: 3-bit code consisting of signals PC1 to PC4)
The weight of each bit is as follows: 2
0
for PC1, 2
1
for PC2, 2
2
for PC4, and 2
3
for PC8. A desired position
number from 0 to 16 (maximum) can be specified.
Pause (*STP)
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The remaining movement is retained and will be resumed when the signal is turned ON again.
The *STP signal can be used for the following purposes:
[1] Provide a low-level safety measure to stop the axis while the servo is ON, such as a sensor that detects a
person approaching the system
[2] Prevent contact with other equipment
[3] Perform positioning based on sensor or LS detection
(Note)
If the *STP signal is input while the actuator is performing home return, the movement command will
be retained if the actuator is yet to contact a mechanical end. If the signal is input after the actuator has
reversed upon contacting a mechanical end, home return will be performed again from the beginning.
Home return (HOME)
The controller will start home return operation upon detection of an OFF
ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as many
times as required.
(Note)
The HOME signal is not an absolute requirement, because even if home return has not yet been
performed after the power was input, the controller will automatically perform home return operation
before positioning to the target position.
3.4.3 Details of Output Signals
Position complete (PEND)
This signal indicates that the target position was reached and positioning has completed.
When the controller becomes ready after the power was input and the servo has turned ON, this signal will turn
ON if the position deviation is within the in-position band.
Then, when a movement command is issued by turning ON the start signal, the PEND signal will turn OFF. It will
turn ON again when the deviation from the target position falls within the in-position band.
Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequently exceeds the
in-position range.
(Note)
If the start signal remains ON, the PEND signal will not turn OFF even when the deviation from the
target position falls within the in-position range: it will turn ON when the start signal turns OFF.
Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input or the
servo is OFF.