IAI America PDR-101-MW - Manual (Page 43)

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5.2 Output Signals
5.2.1 System Ready Signal (SRDY)
This signal turns on when control of P-Driver is enabled after the main power supply is turned on.
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Function
This signal turns on when the initialization is normally completed and control of P-Driver is enabled after
the main power supply is turned on, regardless of the status of alarm and servo.
It is turned on as far as P-Driver is in a controllable status, even if it is in an alarm status.
It is synchronized with the RDY LED located on the front side of the controller.
5.2.2 Operation Ready Signal (RUN)
This signal turns on when the servo motor becomes operable.
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Function
This signal turns on when the servo is turned on and becomes operable (able to receive the pulse-train
input signal, i.e., in pulse mode) as a result of the SON (servo ON) signal being turned on.
It is turned off when the servo is turned off as a result of the SON signal or CSTP (forced stop) signal
being turned off.
See 5.1.1, “Servo ON Signal (SON),” for handling and status of servo on/off.
It is synchronized with the RUN LED located on the front side of the controller.
z
This signal is turned off while the SIO mode is selected by the PC software. In this case, however, the
RUN LED located on the front side of the controller is not turned off. Moreover, the servo ON status is
maintained.
z With this signal, it is possible to identify whether the servo is in the SIO mode or pulse (normal) mode.
See 9.6.1, “Jog Movement Window,” for how to switch between the pulse mode and SIO mode.
5.2.3 Positioning Completion Signal (INP)
This signal turns on when the deviation (standing pulse) of the deviation counter is within the in-position
range.
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Function
This signal turns on when the servo is turned on and the standing pulse of the deviation counter is
within the range of the pulse number set in the in-position width, a position control parameter.
It is turned off when the servo is turned off.
Caution