IAI America ERC2 - Manual (Page 75)

3. W
iring
52
3.9 I/O Signals for PIO Pattern 3 [16 Points] (Setting in Zone Fields in the
Position Table)
Note The factory setting is “8 points,” so set parameter No. 25 to “3.”
The pause signal can be disabled in parameter No. 15.
(Note) *STP and *ALM are always ON.
3.9.1 Explanation of I/O Signals
Category Signal name
Signal
abbreviation
Function overview
Start CSTR Movement of the actuator starts at the rise edge of this signal.
Command position
number
PC1
PC2
PC4
PC8
This signal is used to input a position number that specifies movement.
Be sure to set a command position number by 6 ms before the start signal
(CSTR) is turned ON.
Input
*Pause *STP ON: The actuator can be moved, OFF: The actuator decelerates to a stop
Position complete PEND
This signal turns ON when the actuator has moved close enough to the
target position and entered the in-position band.
Used to determine if positioning has completed.
Home return
completion
HEND
This signal turns OFF when the power is input, and turns ON when home
return completes.
Zone PZONE
This signal is output if, upon completion of home return, the current actuator
position is within the range set by the “Zone” fields for the applicable command
position number in the position table.
It is used as a limit switch at an intermediate point or as a simple ruler for push &
hold operation.
Output
*Alarm *ALM
This signal remains ON while the controller is operating properly, and turns
OFF when an alarm generates.
(Note) The signal remains ON while the motor drive power is cut off.
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
6A PC1
6B PC2
7A PC4
7B PC8
8A CSTR
8B *STP
9A PEND
9B HEND
10A PZONE
10B *ALM
Host system
ERC2 actuator end
CN1 (Signal abbreviation)
Output
side
Input
side
Command position 1
Command position 2
Command position 4
Command position 8
Start
Pause
Position complete
Home return completion
Zone output
Alarm
* Robot cable
Gray (Red 2)
Gray (Black 2)