IAI America PDR-101-MW - Manual (Page 40)

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5.1.3 Homing Command Signal (ORGC)
This signal commands the actuator to perform automatic homing.
„
Function
When the ORGC signal is turned on, this instruction is handled at the rising (ON) edge and the actuator
performs the automatic homing operation.
When homing is completed, the ORGR (homing completion) output signal is turned on.
When the ORGR signal is turned on, set the current value register of the host controller (PLC) to the
home value (enter 0) using the current value preset function.
This signal is always enabled as far as the servo is turned on.
It is possible to perform homing even after homing is completed, by turning the ORGC signal on.
z
The ORGC signal takes priority over the pulse-train command input. For this reason, the actuator
starts homing once the ORGC signal is turned on, even if it is being operated by the pulse-train
command.
z The ORGC signal is only handled at the rising (ON) edge.
z The homing operation is stopped if the SON signal is turned off, the CSTP (external forced stop)
signal is turned on or alarm is detected while homing. When the servo is turned off, the homing
command is canceled even if the ORGC signal is still turned on. For this reason, it is recommended to
turn the ORGC signal off and then on before performing the homing operation again.
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Related parameters
It is possible to disable the ORGC signal using the PIO function setting flag, an external interface
parameter.
Disable the ORGC signal if you are using the homing function of the host controller (PLC).
5.1.4 Torque Limit Selection Signal (TL)
This signal limits the torque of the motor.
„
Function
While the signal is turned on, it is possible to limit the actuator’s thrust (motor torque) to the torque set in
the torque limit value of a speed/current control parameter.
While the TL signal is turned on, if the torque reaches the torque limit value, the TLR (torque limiting)
output signal is turned on. The TL signal is disabled while homing and during forced stop.
Caution