IAI America ERC2 - Manual (Page 79)

5. Explanation of Operating Functions
60
„ Position complete (PEND)
This signal indicates that the target position has been reached, and turns ON only when the following conditions
are satisfied:
[1] The servo ready (SV) bit is “1” AND
[2] the current position has reached the positioning band before each target position OR
[3] the actuator has not missed the work part during push & hold operation.
Use this signal as a trigger signal to operate peripheral equipment upon reaching the target position.
Increasing the positioning band will allow a command to be issued more quickly to peripheral equipment, which
will effectively shorten the tact time of the entire system.
When the servo turns on after the power on, the current position will become the target position. As a result, this
signal bit will turn “1.” It will turn “0” if positioning operation is started thereafter with the CSTR signal bit changing
to “1.”
(Note) If the servo is turned off or an emergency stop is actuated while the actuator is stopped at the target
position, PEND will change to “0.”
When the servo is turned on again, PEND will return to “1” if the actuator is inside the positioning band.
If CSTR remains “1,” PEND will not become “1” even if the current position is inside the positioning band.
It will turn “1” only after CSTR has turned “0.”
The position complete
signal turns ON here.
Target position
Speed
Travel
Time
Positioning band