IAI America RCP2-CF - Manual (Page 74)

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Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset is
executed, or the home return signal is input again.
The HEND signal can be used for the following purposes:
[1] Check prior to establishing the home if movement toward the home direction is permitted, in cases where an
obstacle is located in the direction of the home
[2] Use as a condition for writing the current position in the teaching mode
[3] Use as a condition for enabling the zone output signal
 Zone (ZONE1, ZONE2)
Use a ZONE signal as a limit switch at an intermediate point or as a simple ruler.
The ZONE1 signal will turn ON when the current position is inside the range specified by parameter Nos. 1 and 2,
and turn OFF if the current position is outside this range.
(If the 2 zone output signals pattern is selected, the ZONE2 signal will turn ON/OFF in the same manner with
respect to the range specified by parameter Nos. 23 and 24.)
(Note)
The ZONE signals are enabled after the coordinate system is established following a completion of
home return. They will not be output simply by turning on the power.
As long as home return has completed, the ZONE signals remain enabled while the servo is OFF or
during an emergency stop.
 Current operation mode (MODES)
This signal is enabled when the teaching pattern is selected.
The MODES signal will turn ON when the teaching mode is enabled upon selection of the teaching mode via the
operation mode input signal (MODE signal ON).
Thereafter, the MODES signal will remain ON until the MODE signal turns OFF.
Configure the system in such a way that the PLC will start teaching operation after confirming that the MODES
signal has turned ON.
 Write completion (WEND)
This signal is enabled only when the teaching pattern is selected.
The WEND signal is OFF immediately after the controller has switched to the teaching mode. It will turn ON
when the writing of position data in response to the current-position write signal is completed.
When the current-position write signal turns OFF, this signal will also turn OFF.
Configure the system in such a way that the PLC will acknowledge completion of writing when the WEND signal
turns OFF.
 Completion of each position (PE0 to PE3)
The number of positioning points is limited to four, so the RCP2 can be controlled just like an air cylinder.
These signals indicate that the target position corresponding to each movement command (ST0, ST1, ST2 or
ST3) has been reached, in the same way the reed switch signal does for an air cylinder.
Output signal Meaning of the signal
Rear end complete (PE0)
The actuator has reached and stopped at the rear end (target position set in
position No. 0).
Front end complete (PE1)
The actuator has reached and stopped at the front end (target position set in
position No. 1).
Intermediate point 1
complete (PE2) The actuator has reached and stopped at intermediate point 1 (target position set
in position No. 2).
Intermediate point 2
complete (PE3) The actuator has reached and stopped at intermediate point 2 (target position set
in position No. 3).
(Note) These signals 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.