IAI America ERC2 - Manual (Page 76)

3. W
iring
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3.9.2 Details of Input Signals
„ Start (CSTR)
When the OFF o ON rise edge of this signal is detected, the controller will read the target point number as the 4-bit
binary code consisting of signals PC1 to PC8, and perform positioning to the target position specified by the
corresponding position data.
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 o ON of the start signal, the 4-bit binary code consisting of
signals PC1 to PC8 will be read as the command position number.
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 15 (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.