IAI America RCS-C - Manual (Page 57)

47
[1] COMIA
[2] COMIB
Connect the 24-VDC power supply for output ports between COMOA and COMOB.
COMOA and COMOB have no polarities.
Pin Nos. 1 & 2, and 3 & 4, are connected internally.
[3] Alarm
This signal will turn OFF when an alarm occurs. It remains ON as long as the controller is operating
properly.
To reset an alarm, remove the cause of the alarm, and then input a reset signal or reconnect the power.
[4] Zone
A zone signal will be output when the actuator enters the range set by the applicable parameter.
[5] Home return completion
This signal will turn ON when the initial home return is completed after a power connection. Thereafter, this
signal will remain ON until the power is turned off. It will not turn OFF following an emergency-stop signal
input.
If the home return completion signal is OFF, it means home return will be performed before the next
movement operation.
Note: With the absolute specification, the home return completion signal will turn ON when the power
is turned on, after an absolute reset was executed once. If the home return completion signal
turns OFF due to an alarm, an absolute reset must be executed again.
[6] Position
complete
This signal will turn ON when the controller becomes ready following a power connection. It will turn OFF
when a start signal is input, and turn ON when a movement is completed.
[7] Completed position
All completed position signals will turn OFF the moment the position complete signal turns OFF.
All completed position signals remain OFF while an emergency stop is actuated or during the direct
teaching mode.
When the controller returns to the ready mode thereafter, the completed position signal corresponding to
the current actuator position will be output if the current actuator position is within the positioning band from
the last position complete position. If the current actuator position is outside the positioning band, all
completed position signals will remain OFF.
In the push & hold mode, all completed position signals will remain OFF when the controller returns to the
ready mode from an emergency-stop status or the direct teaching mode, regardless of the current actuator
position.
When an alarm occurs, a corresponding alarm code (short form) is output by the four bits of completed
positions 1, 2, 4 and 8. The meanings of these signals vary in a normal state and when an alarm is present,
so exercise caution when writing a sequence program. (Refer to 7.3, "Alarm Output by PIO.")
[8] Battery alarm (100/200-V specification)
With the absolute specification, this signal will turn OFF when the voltage of the backup battery drops to 3.1
V or below (the alarm signal is a contact-b signal, meaning that it is always ON). This alarm indicates that
the battery should be replaced soon. The controller operation will not be disabled right away after a battery
alarm occurs. Once a battery alarm occurs, the controller will generate a battery error in approx. 220 hours
(around nine days).
Note) The battery-alarm function is supported by the 100/200-V controller of version M5 or later. With the
incremental specification, this signal remains OFF.
Power supply for output ports