IAI America PCON-PO - Manual (Page 63)

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4. Operation Using I/O Signals
„
Positioning Complete Signal (INP)
This signal turns ON when the deviation in the deviation counter (standing pulses) is within the positioning band. It
remains OFF while the servo is off.
Caution: z This signal turns ON when the servo is turned on (to perform positioning at the present position).
z This signal turns ON simply due to accumulation of deviation (standing pulses). Therefore,
setting an excessively wide positioning band in the applicable position control parameter will
cause the INP signal to turn ON once the actuator enters the positioning band during
low-speed operation (before positioning is completed).
„ Torque Limiting Signal (TLR)
This signal turns ON when the specified torque limit is reached in the torque limiting mode.
While the TL (torque-limit selection) signal is ON, this signal will turn ON if the actuator thrust (motor torque)
reaches the torque limit set by the torque limit parameter.
This signal will turn OFF once the motor torque drops to below the specified limit.
„
Homing Complete Signal (HEND)
This signal turns ON after homing has completed and the coordinate system has been established.
It turns ON upon completion of homing initiated by the HOME signal or a command from the teaching pendant or
PC software.
This signal turns OFF once the servo turns off. Perform homing again after the servo has turned off.
Caution: z The software stroke limits set by the corresponding actuator parameters are effective only
while this signal is ON.
z The actuator can be operated without using this function. In this case, however, take
necessary measures, such as not sending pulse commands exceeding the effective stroke, or
providing external limit switches for detecting stroke ends to forcibly stop the actuator upon
detection of a stroke end.
„
Servo-on Output Signal (SV)
When the SON (servo-on) signal turns ON, the servo turns on. As the controller subsequently enters a ready state
(where it can accept pulse train input) (the condition where the controller can accept pulse train input = pulse mode),
this signal turns ON.
This signal turns OFF when the servo is turned off upon turning OFF of the SON signal.
This signal is linked to the LED (green light) on the front panel of the controller.