IAI America RCP2-CF - Manual (Page 73)

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5.3.2 Details of Each Output Signal
 Completed position number (PM1 to PM32)
These signals can be used to check the completed position number when the PEND signal turns ON.
The signals are output as a binary code.
Immediately after the power is input, all of the PM1 to PM32 signals are OFF.
(Only with an expanded controller the binary code consists of six bits from PM1 to PM32. The binary code for all
other controller types consists of four bits from PM1 to PM8.)
All of PM1 to PM32 are OFF also when the actuator is moving.
As described above, this signal is output only when positioning is completed.
(Note)
All of PM1 to PM32 will turn OFF when the servo is turned OFF or an emergency stop is actuated.
They will return to the ON status when the servo is turned ON again, provided that the current position
is inside the in-position range with respect to the target position. If the current position is outside the
range, the signals will remain OFF.
When the power is input, the PEND signal will turn ON. Since PM1 to PM32 are all OFF, this condition
is the same as one achieved after positioning to position “0” is completed.
Check the position of position 0 after the movement command has completed.
If an alarm is present, the corresponding alarm code (abbreviated form) consisting of four bits from PM1 to PM8
will be output.
The meanings of these signals vary between the normal condition and the alarm condition, so be careful not to
use them wrongly in the sequence.
 Moving (MOVE)
This signal is output while the servo is ON and the actuator is moving (also during home return, push & hold
operation or jogging).
Use the MOVE signal together with the PEND signal to allow the PLC to determine the actuator status.
The MOVE signal will turn OFF after positioning or home return is completed or a judgment is made during push
& hold operation that the load is being contacted.
 Position complete (PEND)
This signal indicates that the target position was reached and positioning has completed.
Use the PEND signal together with the MOVE signal to allow the PLC to determine the positioning status.
When the controller becomes ready after the power was input and the servo has turned ON, this signal will turn
ON if the position deviation is within the in-position range.
Then, when a movement command is issued by turning ON the start signal, the PEND signal will turn OFF. It will
turn ON again when the deviation from the target position falls within the in-position range.
Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequently exceeds the
in-position range.
(Note)
If the start signal remains ON, the PEND signal will not turn OFF even when the deviation from the
target position falls within the in-position range: it will turn ON when the start signal turns OFF.
Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input or the
servo is OFF.
 Home return completion (HEND)
This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:
[1] Home return operation has completed with respect to the first movement command issued with the start
signal.
[2] Home return operation has completed following an input of the home return signal.