IAI America PCON-CA - Manual (Page 140)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
132
[4] Compulsory Stop (CSTP)
Input
PIO signal
CSTP
This signal is used to forcibly stop the actuator.
Input the CSTP signal continuously for 16ms or longer. Once the CSTP signal is received, the
actuator decelerates and stops with the maximum torque, and then turns the servo OFF. At this
time, the deviation counter is cleared.
[5] Servo ON (SON, SV)
Input Output
PIO signal
SON SV
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.
Concurrently positioning completion signal INP is turned ON.
3) With the power being supplied, then controller cannot be operated while the SV signal
remains OFF. If the SON signal is turned OFF under operation of the actuator, the actuator
is decelerated and stopped with the maximam torque. After the stop, the servo OFF occurs
to enter the motor into the free running state.
The brake (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
T 26ms
Lock
Release
INP
Brake Excitation
T (before detecting excitation) (Note) = SON signal identification (6ms) + Excitation detection time (T1
+ T2) × Number of retry (10 times Max.) + Servo ON delay
time (T3)
T (after detecting excitation) (Note) = SON signal identification (6ms) + Servo ON delay time (T3)
T1 : Parameter No.30 It differs depending on the setting of excitation detection type.
Set Value = 0 ĺ 160ms
Set Value = 1, 2 ĺ 220ms
T2 : Parameter No.29 Setting of excitation phase signal detection time
It is set to 10ms in the initial setting.
T3 : Fixed to 20ms
(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.