IAI America RCP2-CF - Manual (Page 8)

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PIO pattern 3 [2 zone output signals].................................................................................... 35
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PIO pattern 4 [Teaching]........................................................................................................ 36
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PIO pattern 5 [4 points] (air cylinder)..................................................................................... 37
4.4 Connecting the Actuator ............................................................................................................... 38
4.4.1 Motor Extension Cable .......................................................................................................... 38
4.4.2 Encoder Extension Cable...................................................................................................... 39
 [Standard controller (2 A)]...................................................................................................... 39
 [Large-capacity controller (6 A)] ............................................................................................ 41
4.5 Connecting the Communication Cable......................................................................................... 42
5. I/O Signal Control and Signal Functions ............................................43
5.1 PIO Patterns and Signal Assignments ......................................................................................... 43
5.1.1 Explanation of Signal Names ................................................................................................ 44
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PIO pattern = “0: [Conventional],” “1: [Standard],” “2: [64-point positioning],” “3: [2 zone output
signals]” ................................................................................................................................. 44
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PIO pattern = “4: [Teaching]” ................................................................................................. 45
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PIO pattern = “5: [4 points] .................................................................................................... 46
5.1.2 Signal Assignment Table for Respective PIO Patterns ......................................................... 47
5.2 Interface Circuit ............................................................................................................................ 48
5.2.1 External Input Specifications ................................................................................................. 48
5.2.2 External Output Specifications .............................................................................................. 49
5.3 Details of I/O Signal Functions ..................................................................................................... 50
5.3.1. Details of Each Input Signal............................................................................................ 50
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Start (CSTR) .......................................................................................................................... 50
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Command position number (PC1 to PC32)........................................................................... 50
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Pause (*STP) ........................................................................................................................ 50
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Home return (HOME) ............................................................................................................ 51
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Servo ON (SON) ................................................................................................................... 51
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Alarm reset (RES) ................................................................................................................. 51
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Operation mode (MODE) ...................................................................................................... 51
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Current-position write (PWRT) .............................................................................................. 52
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Jog (JOG+, JOG-) ................................................................................................................. 52
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Movement to each position (ST0 to ST3).............................................................................. 52
5.3.2 Details of Each Output Signal ............................................................................................... 53
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Completed position number (PM1 to PM32) ......................................................................... 53
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Moving (MOVE)..................................................................................................................... 53
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Position complete (PEND)..................................................................................................... 53
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Home return completion (HEND) .......................................................................................... 53
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Zone (ZONE1, ZONE2)......................................................................................................... 54
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Current operation mode (MODES)........................................................................................ 54
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Write completion (WEND) ..................................................................................................... 54
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Completion of each position (PE0 to PE3)............................................................................ 54
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Ready (SRDY)....................................................................................................................... 55
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Alarm (*ALM) ......................................................................................................................... 55
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Emergency stop (*EMGS) ..................................................................................................... 55
(Reference) Output Signal Changes in Each Mode..................................................................... 55