IAI America ERC2 - Manual (Page 69)

3. W
iring
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3.7.3 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.
„ Home return completion (HEND)
This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:
[1] Home return operation has completed with respect to the first movement command issued with the start signal.
[2] Home return operation has completed following an input of the home return signal.
Once turned ON, this signal will not turn OFF until the input power is cut off or the home return signal is input again.
The HEND signal can be used for the following purposes:
[1] Check prior to establishing the home if movement toward the home direction is permitted, in cases where an
obstacle is located in the direction of the home
[2] As a condition for enabling the zone output signal
„ Zone (ZONE)
Use a ZONE signal as a limit switch at an intermediate point or as a simple ruler.
This signal will turn ON when the current position is inside the range specified by parameter Nos. 1 and 2, and turn
OFF if the current position is outside this range.
(Note) The ZONE signal is enabled after the coordinate system is established following a completion of home return.
It will not be output simply by turning on the power.
As long as home return has completed, the ZONE signal remains enabled while the motor drive power is cut
off.
„ Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm has generated.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF status of this
signal.
For details of alarms, refer to 9, “Troubleshooting.”