IAI America PCON-SE - Manual (Page 74)

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4. Description of Operating Functions
Ŷ Position Complete (PEND)
This signal indicates that the target position has been reached, and turns ON in the following condition:
[1] The operation ready signal (SV) is “1” and
[2] The current position deviation from each target position is within the positioning band or
[3] Work is contacted (not missed) during push & hold operation.
This signal is used as a trigger signal to peripheral equipment when the target position is reached.
Since making the positioning band value larger quickens a command to peripheral equipment by that amount, it is
effective as a means to reduce the tact time of the entire system.
When the servo turns ON after the power is input, this signal will become “1” because that position becomes the
target position. The signal will become “0” when positioning operation starts with the CSTR signal as “1.”
(Note) When the servo turns OFF or an emergency stop is actuated, PEND will become “0” once.
If the position deviation is within the positioning band when the servo is turned ON again, PEND will return
to “1.” If CSTR remains “1,” PEND will not return to “1” even when the current position deviation falls
within the positioning band and become “1” after CSTR becomes “0.”
Speed
Timing of position complete
signal turning ON
Target
position
Time
Positioning
band
Moving distance