IAI America ERC2 - Manual (Page 73)

5. Explanation of Operating Functions
54
Warning: Since a pulse motor is used as the driving motor, the excited phase will be detected when the
servo is turned on for the first time after the power on.
Accordingly, the actuator must be able to move when the servo is turned on.
If the slider or rod is contacting a mechanical end or the load is contacting any peripheral
equipment, the excited phase will not be detected correctly and a malfunction or excitation
detection error may result.
In such a case, move the actuator by hand to a position where it can move freely, before turning
on the servo.
If the actuator is equipped with a brake, the brake release switch must be turned on to forcibly
release the brake. When operating the brake release switch, be careful not to let your hand
pinched, or the robot hand or work part damaged, by the actuator dropping suddenly due to its
dead weight.
If the actuator cannot be moved by hand, one option is to change parameter No. 28 (Default
direction of excited-phase signal detection). If you wish to change this parameter, consult IAI in
advance.
„ Controller ready (PWR)
This signal indicates whether the controller can be controlled externally.
When the signal bit is “0,” the controller is busy. When the bit is “1,” the controller is ready.
The controller does not become busy in normal conditions of use.
„ Servo ON command (SON)
The servo will turn on when this signal bit turns “1.”
Use this signal if servo on/off must be controlled to provide a safety circuit for the entire system on the PLC side.
„ Servo ready (SV)
This is a monitor signal indicating, following the input of a servo ON command (SON), that the servo is on and
the motor can be driven. The “1”/“0” status of this signal bit is synchronized with the on (green light)/off status of
the SV lamp provided on the front panel.