IAI America PCON-CF - Manual (Page 14)

z PIO pattern = 1: Teaching mode [Teaching type] ................................................................ 51
z PIO pattern = 2: 256-point mode [256-point type] ................................................................ 52
z PIO pattern = 3: 512-point mode [512-point type] ................................................................ 53
z PIO pattern = 4: Solenoid valve mode 1 [7- point type]........................................................ 54
z PIO pattern = 5: Solenoid valve mode 2 [3-point type]......................................................... 55
5.2.2
Signal Assignment Table for Respective PIO Patterns................................................. 56
5.3 Details of I/O Signal Functions ..........................................................................................57
5.3.1. Details of Each Input Signal.......................................................................................... 57
„ Operating mode (RMOD) ..................................................................................................... 57
„ Start (CSTR) ......................................................................................................................... 57
„ Command position number (PC1 to PC256)........................................................................ 57
„ Pause (*STP)........................................................................................................................ 58
„ Home return (HOME) ........................................................................................................... 58
„ Servo ON (SON)................................................................................................................... 58
„ Alarm reset (RES) ................................................................................................................ 58
„ Brake release (BKRL)........................................................................................................... 59
„ Operation mode (MODE)...................................................................................................... 59
„ Current-position write (PWRT) ............................................................................................. 59
„ Manual operation switching (JISL) ....................................................................................... 59
„ Jog (JOG+, JOG-) ................................................................................................................ 60
„ Direct position command (ST0 to ST6) [7-point type] .......................................................... 60
„ Movement to each position (ST0 to ST2) [3-point type]....................................................... 61
5.3.2
Details of Each Output Signal....................................................................................... 62
„ Operating mode status (RMDS) ........................................................................................... 62
„ Completed position number (PM1 to PM256) ...................................................................... 62
„ Moving (MOVE) .................................................................................................................... 62
„ Position complete (PEND).................................................................................................... 62
„ Home return completion (HEND) ......................................................................................... 63
„ Zone (ZONE1, ZONE2) ........................................................................................................ 63
„ Current operation mode (MODES)....................................................................................... 63
„ Write completion (WEND) .................................................................................................... 63
„ Movement complete at each position (PE0 to PE6) [7-point type]....................................... 64
„ Position detection output at each position (LS0 to LS2) [3-point type] ................................ 64
„ Ready (SV) ........................................................................................................................... 64
„ Alarm (*ALM) ........................................................................................................................ 64
„ Emergency stop (*EMGS) .................................................................................................... 65
„ Load output judgment status (LOAD)................................................................................... 65
„ Torque level status (TRQS).................................................................................................. 65
„ Output Signal Changes in Each Mode ................................................................................. 65
5. I/O Signal Control and Signal Functions.................................................................. 47
5.1 Interface Circuit .................................................................................................................47
5.1.1 External Input Specifications......................................................................................... 47
5.1.2 External Output Specifications...................................................................................... 48
5.2 PIO Patterns and Signal Assignments...............................................................................49
5.2.1 Explanation of Signal Names........................................................................................ 50
z PIO pattern = 0: Positioning mode [Standard type].............................................................. 50