IAI America RCP2-CF - Manual (Page 65)

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 PIO pattern = “4: [Teaching]”
Category Signal name
Signal
abbreviation
Function overview
Start CSTR Movement is started at a rise edge of this signal.
Command position
number PC1
PC2
PC4
PC8 The target position number is input.
A command position number must be specified by 6 ms before
the start signal (CSTR) turns ON.
*Pause *STP ON: Actuator can be moved, OFF: Actuator decelerates to a
stop
Home return HOME Home return operation is started at a rise edge of this signal.
Operation mode MODE ON: Teaching mode, OFF: Normal mode
Current-position write PWRT When this signal has remained ON for 20 msec or longer, the
current position will be stored under the position number
selected by PC1 to PC8.
+Jog JOG+ The actuator moves in the positive direction while this signal is
ON.
–Jog JOG- The actuator moves in the negative direction while this signal is
ON.
Servo ON SON The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
Input
Alarm reset RES An alarm is reset at a rise edge of this signal.
Completed position
number PM1
PM2
PM4
PM8 The relevant position number is output when positioning has
completed.
The signal will turn OFF when the next start signal is received.
It is used by the PLC to check if the commanded position has
definitively been reached, and also to provide a position
interlock, etc.
Moving MOVE This signal turns ON while the actuator is moving, and turns
OFF while it is stopped.
It is used for operation check and also to determine whether the
load is contacted during push & hold operation.
Position complete PEND This signal turns ON when the target position was reached and
the actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
Home return completion HEND This signal is OFF immediately after the power is input, and
turns ON when home return has completed.
Current operation mode MODES Currently enabled mode (ON: Teaching mode, OFF: Normal
mode)
Write completion WEND This signal is output upon completion of writing to the nonvolatile
memory in response to a current-position write command
(PWRT).
Ready SRDY This signal is always output once the servo is turned ON and the
controller is ready to operate.
The signal is synchronized with the lit/unlit status of the “RUN”
LED on the front panel of the enclosure.
It is used by the PLC to determine when it can start operation.
*Alarm *ALM This signal remains ON in normal conditions of use and turns
OFF when an alarm generates.
Output
*Emergency stop *EMGS This signal is enabled on a “built-in cutoff relay” controller.
OFF: Emergency stop has been actuated