IAI America RCP2-CF - Manual (Page 70)

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5.3 Details of I/O Signal Functions
An input time constant is provided for the input signals of this controller, in order to prevent malfunction due to
chattering, noise, etc.
Except for certain signals, switching of each input signal will be effected when the signal has been received
continuously for at least 6 msec. For example, when an input is switched from OFF to ON, the controller will only
recognize that the input signal is ON after 6 msec. The same applies to switching of input signals from ON to
OFF (Fig. 1).
Fig. 1 Recognition of Input Signal
5.3.1. Details of Each Input Signal
 Start (CSTR)
Upon detecting a rise (OFF
 ON) edge of this signal, the controller will read the target point number as a binary
code consisting of four bits from PC1 to PC8 (or six bits from PC1 to PC32 in the 64-point positioning pattern),
and execute positioning to the target position of the corresponding position data.
Before issuing a start command, all operation parameters such as the target position and speed must be set in
the nonvolatile memory of the controller.
If a start command is issued when home return operation has not been performed yet after the power was input
(the HEND output signal is OFF), the controller will automatically perform home return operation before
positioning to the target position.
 Command position number (PC1 to PC32)
When a movement command is effected upon OFF
 ON of the start signal, the six-bit binary code consisting of
signals PC1 to PC32 will be read as the command position number.
(Only with an expanded controller the binary code consists of six bits from PC1 to PC32. The binary code for all
other controller types consists of four bits from PC1 to PC8.)
The weight of each bit is as follows: 2
0 for PC1, 2 1 for PC2, 2 2 for PC4, 2 3 for PC8, 2 4 for PC16 and 2 5 for PC32.
A desired position number from 0 to 63 (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.
To abort the movement command, turn ON the alarm reset signal while this signal is OFF to cancel the
remaining movement.
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.
6 [msec] 6 [msec]
Input signal
Recognition by controller
Not recognized Not recognized