IAI America ACON-CG - Manual (Page 64)

50
5. I/O Signal Control and Signal Functions
z PIO pattern = 1 [Teaching mode (Teaching type)]
Category Signal name
Signal
abbreviation
Function overview
PC1
PC2
PC4
PC8
PC16
Command position
number
PC32
The target position number is input.
A command position number must be specified by 6 ms before
the start signal (CSTR) turns ON.
Operation mode MODE Mode selection (ON: Teaching mode, OFF: Normal mode)
Jog/inching switching JISL OFF: Jog, ON: Inching
+jog/inching movement JOG+
The actuator will start jogging or inching in the positive
direction at an ON edge of this signal.
-jog/inching movement JOG-
The actuator will start jogging or inching in the negative
direction at an ON edge of this signal.
Operating mode RMOD This signal switches the operating mode between AUTO
and MANU.
Home return HOME Home return operation is started at a rise edge of this signal.
*Pause *STP
ON: Actuator can be moved, OFF: Actuator decelerates to a
stop
Start CSTR The actuator will start moving at a rise edge of this signal.
Current-position write PWRT
When this signal has remained ON for 20 msec or longer, the
current position will be stored under the position number
selected by PC1 to PC32.
Alarm reset RES An alarm is reset at a rise edge of this signal.
Input
Servo ON SON
The servo remains ON while this signal is ON.
The servo remains OFF while this signal is OFF.
PM1
PM2
PM4
PM8
PM16
Completed position
number
PM32
The relevant position number is output when positioning has
completed.
The signal will turn OFF when the next start signal is received.
It is used by the PLC to check if the commanded position has
definitively been reached, and also to provide a position
interlock, etc.
Moving MOVE
This signal will remain ON while the actuator is moving, and
OFF while the actuator is standing still.
It is used to determine whether the actuator is moving or
paused.
Mode status MODES ON: Teaching mode, OFF: Normal mode
Position zone PZONE
This signal becomes effective after a position movement
command is input. It will turn ON when the current actuator
position enters the range specified in the position table and
remain ON until the actuator exits the range.
Operating mode status RMDS
This signal will remain OFF during the AUTO mode, and ON
during the MANU mode.
Home return
completion
HEND
This signal is OFF immediately after the power is input, and
turns ON when home return has completed.
Position complete PEND
This signal turns ON when the target position was reached
and the actuator has entered the specified in-position range.
It is used to determine whether positioning has completed.
Write completion WEND
This signal is output upon completion of writing to the
nonvolatile memory in response to a current-position write
command (PWRT).
Ready SV
This signal is always output once the servo is turned ON and
the controller is ready to operate.
*Emergency stop *EMGS OFF: Emergency stop has been actuated
Output
*Alarm *ALM
This signal remains ON in normal conditions of use and turns
OFF when an alarm generates.