IAI America E-Con - Manual (Page 43)

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(10) Complete Position Turns OFF simultaneously as timing once positioning complete turns OFF. All will turn
OFF during emergency stop or direct teaching. In case operation is possible afterwards,
in case the current actuator position is within the positioning
range from the last
positioning complete position, outputs its complete position. All will remain OFF in case
of being outside of the positioning band. In case operation is possible during push
mode, in either from emergency stop or direct teach, all will remain OFF regardless of
the current position.
If an alarm occurs, the four bits of complete positions 1, 2, 4 and 8 will be output as an
alarm code (short pattern). This signal means different conditions in normal state and
alarm state, so pay attention not to misinterpret the signal in the sequence. (Refer to
6-3, “Alarm Output by PIO.”)
(11)
COMIA Power for input port
(12) COMIB
Connect DC24V power for input port between COMIA and COMIB. Pin Numbers. 21
and 22 are connected internally and Pin Numbers. 23 and 24 are also connected
internally.
(13) Hold
This is a B-contact input. During movement, remains ON. Turns OFF to HOLD or
freeze motion.
(14) Servo ON
When this signal is turned ON, servo is turned ON.
(15)
Reset Once the signal is detected, the controller completes an alarm reset. In case the
source of the alarm is not resolved, alarm will reoccur even after resetting the alarm.
Cancels remaining movement load during hold.
(16) Start
Input for movement start signal.
(17) Command Position Position select inputs. This is the relationship between the input pin No. and selected
positron No. (6 bit binary)
You may input select 64 positions of position 0 to position 63.
1: ON, 0: OFF
40
Command
Position 1
0 1 0 1 0 1 0 1 1 0 1 0 1 0 1
38
Command
Position 2
0 0 1 1 1 0 1 1 0 1 1 0 0 1 1
36
Command
Position 4
0 0 0 0 0 1 1 1 0 0 0 1 1 1 1
34
Command
Position 8
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1
32
Command
Position 16
0 0 0 0 0 0 0 0 1 1 1 1 1 1 1
Pin
No.
30
Command
Position 32
0 0 0 0 0 0 1 0 1 1 1 1 1 1 1
Selected Position No. 0 1 2 3 4 5 6 7 57 58 59 60 61 62 63
Caution: A controller operation error may occur when selecting an undefined position number and triggering
the Start Input ON. (alarm code 0B1, bank 31 error).