IAI America ACON-SE - Manual (Page 65)

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4. Description of Operating Functions
Warning: A pulse motor is used as the drive motor, so the excited phase is detected when the servo
is turned on for the first time following the power on.
This means that when the servo is turned on, the actuator must be able to move.
If the slider or rod is stopped at the mechanical end or the load carried on it is contacting
any surrounding equipment, this excited phase detection is not performed and the
actuator may operate abnormally or generate an excited phase detection error.
In this case, move the actuator by hand, before the servo is turned on, to a position where
it can move.
If the actuator has a brake, the brake release switch must be turned on to forcibly release
the brake. When doing this, however, be careful not to let your hand pinched or the robot
hand or work part damaged due to the actuator dropping suddenly because of its own
weight.
If the actuator cannot be moved by hand, changing the setting of parameter No. 28
(excited phase signal detection direction) may provide a solution. If you wish to change
this parameter, consult IAI beforehand.
Ŷ Controller ready (PWR)
This signal indicates whether the controller is controllable from the outside.
0: Controller BUSY, 1: Controller READY
The controller is not generally put into a BUSY status.
Ŷ Servo ON command (SON)
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Use this signal when the servo ON/OFF is required in constructing the safety circuit of the entire equipment.
Ŷ Operation ready (SV)
This signal is a monitor signal indicating that the servo is ON and the motor is ready after the servo ON
command (SON) is input. The 1/0 status of this signal is synchronized with the lit/unlit status in green of the
SV lamp on the front panel.