IAI America PCON-PO - Manual (Page 61)

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4. Operation Using I/O Signals
Torque-limit Selection Signal (TL)
This signal limits the motor torque.
While this signal is ON, the actuator thrust (motor torque) is limited to the torque set in User Parameter No. 57
(Torque limit).
Caution: Do not turn the TL signal OFF while it is ON.
If the TL signal is turned OFF in this condition, the controller will instantly start controlling the
actuator at the maximum torque and the actuator may move suddenly or run out of control.
This signal can be disabled using User Parameter No. 61 (Torque-limit command input). Disable the TL signal if it is
not used.
Homing Signal (HOME)
This command signal is used to perform homing automatically.
When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal
and the actuator will return to its home automatically.
When the homing is completed, the HEND (homing complete) output signal turns ON.
Program the host controller (PLC) so that its current-value register will be reset to the home (“0” will be input to the
register) by the current-value preset function, etc., upon turning ON of the HOME signal.
* This signal is always enabled as long as the servo is on.
* Even after homing has been performed once, homing can be performed again by turning the HOME signal ON.
Caution: The HOME signal is given priority over pulse train commands. Even while the actuator is moving
under a pulse train command, it will start moving to the home once the HOME signal is turned
ON.
The HOME signal is processed only at its leading edge (ON edge).
If the SON signal turns OFF or an alarm is detected during homing, the homing operation will
stop. If the servo turns OFF , the homing command will be cancelled even if the HOME signal is
still ON. To perform homing again, turn the HOME signal OFF, and then turn it back ON.
The actuator can be operated without using this function. If this function is not used, however, all
management actions over position data will be left to the host controller.
In this case, take necessary measures to prevent an over-stroke error, such as not sending pulse
commands exceeding the effective stroke, or providing external limit switches or other devices for
detecting stroke ends to forcibly stop the actuator upon detection of a stroke end.