Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 114)

92 Inputs and Outputs • Assignable Outputs
Publication 1398-PM601A-EN-P — October 2000
I/O
Assignable Outputs
All dedicated outputs can be disabled and used as general purpose outputs. Outputs are assigned in the
Parameter menu, Output dialog box. Refer to Part 2
•
IQ Master Environment, Parameter menu, Out-
puts, for more detailed information. The function of these outputs when they are assigned is described
below.
AtHome (05)
The AtHome output can be enabled to provide an output that indicates when the system is at the home
position. You can refer to Part 5
•
Language Reference, ATHOME flag for more detailed information,
and Appendix A for detailed information on the default home program.
The AtHome output uses the In-Position Window size, but not the In-Position Window time to deter-
mine if it should turn ON. When the feedback position POSN has been within the In-Position Window
size of the zero position, the AtHome Output will turn ON. It is OFF otherwise. The In-Position Win-
dow size is set in Parameter menu, Gains/Limits dialog box. The window size also may be changed at
runtime using the WIN instruction.
Error (08)
The Error output can be enabled to indicate if there is a system error. Refer to Appendix D, Error Mes-
sages for the list of errors that will turn ON the Error output. In addition to errors, this output can be pro-
grammed to turn ON when the ULTRA Plus or IQ is disabled. Refer to Part 2
•
IQ Master
Environment, Outputs for more detailed information.
This output turns OFF when the error is cleared by: disabling and enabling the ULTRA Plus or IQ, issu-
ing a Reset or HRESET, cycling power OFF and ON, or in the case of a travel limit fault, by jogging
OFF the limit switch. If the condition remains that caused the fault, the Error output will turn ON again.
Home Sequence Complete (O6)
The Home Sequence Complete output, if enabled, will turn ON when the ULTRA Plus or IQ has been
homed. Refer to Part 5
•
Language Reference, HSEQCPL for more detailed information, and Appendix
A for detailed information on the default home program.
Program Running (O4)
If enabled, the Program Running output will be ON when a program other than an Fkey program is run-
ning; otherwise Program Running will be OFF.
In-Position (O7)
The In-Position output is ON when the INPOSN flag is ON and it is OFF otherwise. Refer to Part 5
•
Language Reference, INPOSN flag for more detailed information.
Note: Home position must have been defined AND the system must be in the Absolute mode to
use the At-Home output.
ATTENTION
!
External circuitry must be used to ensure the state of digital outputs in
an emergency stop situation. TheULTRA Plus or IQ-Series will not
automatically turn outputs off.