IAI America ERC3 - Manual (Page 420)

Chapter 10
Appendix
10.5
Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)
410
10.5.2 Ladder Sequence
[1] Servo ON (Emergency Stop) Circuit
1) It is presumed that the emergency stop release circuit installed in the operation box
possesses the self-retaining circuit as shown in “3.1.3 [1] Emergency Stop Circuit”. When it
comes to the emergency stop release condition, “Servo-on” signal from PLC to PCON
turns ON.
2) Then if the emergency stop release state continues, the operation ready complete signal
(sent from PCON to PLC) is turned on to go on the “Emergency stop release” lamp, which
indicates that the actuator can be operated.
000
002
IN0
IN0
OUT14
OUT0 IN14
EMGRST
Emergency Stop Cancel
Servo ON
Emergency Stop
Cancel Display
EMGRST
Emergency
Stop Cancel
SV
SON
EMRSTL
Operation
Preparation End
IN15
*ALM
*Alarm
Even though there is no problem only with SV for this
circuit, to turn off the emergency stop release lamp
immediately by the external emergency stop, it is
equipped with EMGRST.
It is because EMGRST is there not only to simply turn on
the lamp, but also to conduct emergency stop process for
other circuits.
[2] Operation and Stop Circuit
005
012
IN1
OUT1
OUT1
IN13 IN2 IN0 OUT11 OUT1
OUT2
START
RC Start
RC Start Display
STARTL
RC Start Display
STARTL
RC Start Display
PEND
Point
Positioning
Completion
STOP
RC Stop
EMGRST
Emergency
stop cancel
Stop Command
HOME STARTL
STOPL
Home Return
Step number:
It shows the number of steps on PLC.
(Interlock)
Prohibits start during home return.
a007 b012 b044
a071 a076 a085
a091 a097 a103
a109 a115 a121
a127 a133
RC Stop Display
a035
Once the servo ON the controller turns ON, PEND
turns ON to conduct a positioning to the current position.
Therefore, it is used to judge whether operation is
available (to confirm READY condition ON controller).
Cross Reference:
It shows the steps using the contact
of this signal.