IAI America RCP2-CF - Manual (Page 71)

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 Home return (HOME)
The controller will start home return operation upon detection of an OFF
 ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as many
times as required.
(Note)
The HOME signal is not an absolute requirement, because even if home return has not yet been
performed after the power was input, the controller will automatically perform home return operation
before positioning to the target position.
Setting “0.00 mm” as the position data will allow for movement to the home. Still, the HOME signal is
convenient when there is no space in the position-data table or when the controller is used in the
teaching mode.
 Servo ON (SON)
The servo remains ON while this signal is ON.
Use this signal if servo ON/OFF control must be performed by the PLC as part of a safety circuit covering the
entire system.
Parameter No. 21 that defines whether to enable or disable this signal must always be set.
Set “0: [Enable]” if the SON signal is used, or “1: [Disable]” if the signal is not used.
(Note)
If the SON signal is turned OFF during movement in case of error, the actuator will decelerate to a stop
at the emergency-stop torque and then the servo will turn OFF.
 Alarm reset (RES)
This signal provides two functions.
[1] Reset the alarm output signal (*ALM) that turned OFF due to an alarm
If an alarm has generated, turn ON this signal after confirming the nature of the alarm.
The controller will reset the alarm upon detection of a rise edge of the RES signal.
(Note) Certain alarms cannot be reset by the RES signal. For details, refer to 10, “Troubleshooting.”
[2] Cancel the remaining movement when the pause signal is OFF
This function is used when the remaining movement must be cancelled to allow for incremental moves
(movements at a constant increment) from the position where the actuator stopped following a sensor
detection.
 Operation mode (MODE)
This signal is enabled when parameter No. 25 is set to “4: [Teaching].”
Turning the MODE signal ON will switch the normal operation mode to the teaching mode.
(Note)
For the mode switching to occur, all of the *STP, CSTR and RES input signals must be OFF.
Once the mode switches, the MODES output signal will turn ON.
Configure the system in such a way that the PLC will accept a PWRT, JOG+ or JOG- operation
command after confirming the ON status of the MODES output signal.
Turn the MODE signal OFF to return to the normal operation mode.
Configure the system in such a way that the PLC will accept a command in the normal operation mode
after confirming the OFF status of the MODES output signal.
(Note) The normal operation mode cannot be restored unless all of the PWRT, JOG+ and JOG- input signals
are OFF.