IAI America ASEL - Manual (Page 335)

Part 3 Positioner Mode
Chapter 3 Product Switching Mode
313
Part 3 Positioner Mode
4. Details of Each Output Signal
„ Positioning complete (PEND)
This signal indicates that the actuator reached the target position and the positioning has completed.
After the power was input and the servo has turned on, this signal will turn ON if the position deviation is
within the in-position band when the controller becomes ready.
Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
The signal will turn ON if the position deviation from the target position is within the in-position band after
the start signal has turned OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) If the start signal is ON, this signal will not turn ON even when the position deviation from the
target position falls within the in-position band. The signal will turn ON after the start signal turns
OFF.
Even if the motor is stopped, this signal will remain OFF if a pause signal is input or the servo is
off.
„ Home return complete (HEND)
This signal is OFF when the power is input, and will turn ON when the home-return operation initiated by
input of the home-return signal is completed.
Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is
input again.
„ Alarm (*ALM)
This signal remains ON while the controller is normal, and will turn OFF if an alarm occurs.
This signal will turn OFF when an error of operation-cancellation level or higher generates.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns OFF.
For details on alarms, refer to Appendix “ Error Level Management” and “ Error List.”
„ Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.
„ Servo ON output (SVON)
This signal will turn ON when the servo turns on. Issue a movement command after the servo ON output
signal has turned ON.
„ System battery error
This signal will turn ON when the voltage of the optional system-memory backup battery drops to a
specified level.
„ Absolute battery error
On a controller of absolute specification, this signal will turn ON when the voltage of the absolute-data
backup battery drops to a specified level.