IAI America ACON-CG - Manual (Page 10)

5.1.1 External Input Specifications................................................................................. 46
5.1.2 External Output Specifications.............................................................................. 47
5.2 PIO Patterns and Signal Assignments ...................................................................................... 48
5.2.1 Explanation of Signal Names................................................................................ 49
z PIO pattern = 0 [Positioning mode (Standard type)] ............................................................ 49
z PIO pattern = 1 [Teaching mode (Teaching type)]............................................................... 50
z PIO pattern = 2 [256-point mode (256-point type)] .............................................................. 51
z PIO pattern = 3 [512-point mode (512-point type)] .............................................................. 52
z PIO pattern = 4 [Solenoid valve mode 1 (7-point type)] ....................................................... 53
z PIO pattern = 5 [Solenoid valve mode 2 (3-point type)] ....................................................... 54
5.2.2 Signal Assignment Table for Respective PIO Patterns ......................................... 55
5.3 Details of I/O Signal Functions .................................................................................................. 56
5.3.1. Details of Each Input Signal.................................................................................. 56
„ Operating mode (RMOD) ..................................................................................................... 56
„ Start (CSTR)......................................................................................................................... 56
„ Command position number (PC1 to PC256)........................................................................ 57
„ Pause (*STP)........................................................................................................................ 57
„ Home return (HOME) ........................................................................................................... 57
„ Servo ON (SON)................................................................................................................... 57
„ Alarm reset (RES) ................................................................................................................ 58
„ Brake release (BKRL) .......................................................................................................... 58
„ Operation mode (MODE) ..................................................................................................... 58
„ Current-position write (PWRT) ............................................................................................. 58
„ Manual operation switching (JISL) ....................................................................................... 58
„ Jog (JOG+, JOG-) ................................................................................................................ 59
„ Direct position command (ST0 to ST6) [Solenoid valve mode 1 (7-point type)] .................. 59
„ Movement to each position (ST0 to ST2) [Solenoid valve mode 2 (3-point type)]............... 60
5.3.2 Details of Each Output Signal ............................................................................... 61
„ Operating mode status (RMDS) ........................................................................................... 61
„ Completed position number (PM1 to PM256) ...................................................................... 61
„ Moving (MOVE) .................................................................................................................... 61
„ Position complete (PEND).................................................................................................... 61
„ Home return completion (HEND) ......................................................................................... 62
„ Zone (ZONE1, ZONE2)........................................................................................................ 62
„ Current operation mode (MODES)....................................................................................... 62
„ Write completion (WEND) .................................................................................................... 62
„ Movement complete at each position (PE0 to PE6) [Solenoid valve mode 1 (7-point type)]63
„ Position detection output at each position (LS0 to LS2) [Solenoid valve mode 2 (3-point
type)]..................................................................................................................................... 63
„ Ready (SV) ........................................................................................................................... 63
„ Alarm (*ALM) ........................................................................................................................ 63
„ Torque level status (TRQS).................................................................................................. 63
„ Emergency stop (*EMGS) .................................................................................................... 64
„ Output Signal Changes in Each Mode ................................................................................. 64
4.4 Connecting the Actuator ............................................................................................................ 43
4.4.1 Wiring the ACON-C/CG and Actuator ................................................................... 43
4.5 Connecting the Communication Cable...................................................................................... 45
5. I/O Signal Control and Signal Functions.................................................................. 46
5.1 Interface Circuit ......................................................................................................................... 46