IAI America RCM-GW-PR - Manual (Page 67)

61
PfofiBus Gateway
I/O Signal Details
Signal type Bit
Signal
name
Pattern No. Description Details
PLC ou
tp
ut
Control
signal
b7 SON 0 to 4 Servo on command 6.2 (7)
b6 RES 0 to 4 Reset command 6.2 (4)
b5
CSTR 0, 2, 3 Start command 6.2 (9)
PWRT 1 Position data load command TEAC 6.2 (17)
b4 STP 0 to 4 Pause command 6.2 (5)
b3 HOME 0 to 4 Home return command 6.2 (8)
b1 BKRL 0, 2 to 4 Forced brake release 6.2 (18)
b1 JOG- 1 Jog- command 6.2 (14)
b0 JOG+ 1 Jog+ command 6.2 (14)
b7 JISL 1 Jog/inching switching 6.2 (15)
b6 MOD 1 Teaching mode command 6.2 (16)
Command
position
number
b7-b0 PC*** 0 to 3
Specify the command position number
using a binary value.
6.2 (11)
b6-b0 ST0-ST6 4
Specify the start position using a bit
pattern.
PLC inpu
t
Status
signal
b7 BALM 0 to 4 Battery voltage low alarm
b6 ALM 0 to 4 Alarm 6.2 (3)
b5 EMGS 0 to 4 Emergency stop 6.2 (2)
b4 SV 0 to 4 Ready (servo is on) 6.2 (7)
b3 PEND 0, 2 to 4 Positioning complete 6.2 (10)
b3 WEND 1
Position data load command status
TEAC
6.2 (17)
b2 HEND 0 to 4 Home return complete 6.2 (8)
b1 RMDS 0 to 4 Operation mode status
b0 PZONE 0 to 2, 4 Position zone output monitor
6.2 (13)
b7 ZONE1 0, 4 Zone output monitor 1
b7 MODS 1 Teaching mode status 6.2 (16)
b6 MOVE 0, 1 Moving 6.2 (6)
Completed
position
number
b7 to b0 PM*** 0 to 3
The completed position number is read
as a binary value.
6.2 (12)
b6 to b0
PE0 to
PE6
4
The completed position is read as a bit
pattern.