IAI America MSEP - Manual (Page 171)

3.8 I/O Signal Controls and Function
163
3.8.2 SEP I/O Mode and PIO Operation for Fieldbus Type
[1] Servo ON (SON, SV)
Input Output
PIO Signal
SON SV
All Operation
Patterns
{ {
{ : Available, u: Unavailable
1) Servo ON signal SON is the input signal making the servo motor of the actuator operable.
2) If the servo-on is performed to enable operation, the SV output signal is turned ON.
3) With the power being supplied, then controller cannot be operated while the SV signal
remains OFF. If SON Signal is turned OFF during the actuator operation, the actuator
decelerates and stops with the maximum torque for RCP* and emergency stop torque for
RCA* and RCL, and then servo is turned OFF and the motor gets into Free-run Mode.
The brake (actuator option) is of release-in-excitation type. Therefore, making the excitation
ON will release the brake while making it OFF will lock the brake.
SON
SV
Brake
Excitation
Lock
Release
T
Varies depending
on actual speed
T (before detecting excitation (Note) ) = SON signal identification (7ms) + Excitation detection time
(170ms) × Number of retry (10 times Max.) + Servo ON delay
time (20
(Pulse motor)
, 50
(Servo motor)
ms)
T (after detecting excitation (Note) ) = SON signal identification (7ms) + Servo ON delay time
(20
(Pulse motor)
, 50
(Servo motor)
ms)
(Note) Excitation check operation is performed at the first servo-on process after the power is
turned ON, or when the home return is completed for the simple absolute type to identify the
magnetic poles of the motor.