Ready (srdy), Alarm (*alm), Emergency stop (*emgs) – IAI America RCP2-CF User Manual
Page 75: Reference) output signal changes in each mode, Reference), Output signal changes in each mode
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Ready (SRDY)
This is a monitor signal indicating that the servo is ON and the motor is ready.
The ON/OFF status of the SRDY signal is synchronized with the lit/unlit status of the “RUN” LED on the front
panel of the enclosure.
Use this signal as a condition for starting a movement command on the PLC side.
Refer to 7.1, “How to Start,” for the timing to issue this signal after the power is input.
Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm has generated.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF status of
this signal.
For details of alarms, refer to 10, “Troubleshooting.”
Emergency stop (*EMGS)
This signal is enabled on a “built-in cutoff relay” controller.
The *EMGS signal remains ON in normal conditions of use, and turns OFF when the emergency-stop switch has
been pressed.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF status of
this signal.
(Reference)
Output Signal Changes in Each Mode
Mode classification
MOVE
PEND
SRDY
HEND
PM1-PM8
Actuator is stopped with the servo ON after the power was
input
OFF ON ON OFF OFF
Home return is in progress following an input of the home
return signal
ON OFF ON OFF OFF
Home return has completed following an input of the home
return signal
OFF ON ON ON OFF
Actuator is moving in the positioning/push & hold mode
ON
OFF
ON
ON
OFF
Actuator is paused in the positioning/push & hold mode
OFF
OFF
ON
ON
OFF
Positioning has completed in the positioning mode
OFF
ON
ON
ON
ON
Actuator has stopped after contacting the load in the push &
hold mode
OFF ON ON ON ON
Actuator has stopped after missing the load (no load) in the
push & hold mode
OFF OFF ON ON ON
Actuator is stopped with the servo ON in the teaching mode
OFF
ON
ON
Actuator is jogging in the teaching mode
ON
ON
ON
Actuator is being moved by hand with the servo OFF in the
teaching mode
OFF
OFF ON
Servo is OFF after home return
OFF
OFF
OFF
ON
OFF
Emergency stop has been actuated after home return
OFF
OFF
OFF
ON
(Note)
Determine whether the actuator has stopped after contacting the load or missing the load from the
signal statuses of MOVE, PEND and PM1 to PM8.