IAI America ACON-CG - Manual (Page 71)

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5. I/O Signal Control and Signal Functions
„ Command position number (PC1 to PC256)
When a movement command is effected upon OFF o ON of the start signal, the nine-bit binary code consisting
of signals PC1 to PC256 will be read as the command position number.
6 bits from PC1 to PC32 in case of the positioning mode (standard type) and teaching mode (teaching type), 8
bits from PC1 to PC128 in case of the 256-point mode (256-point type), and 9 bits from PC1 to PC256 in case of
the 512-point mode (512-point type).
The weight of each bit is as follows: 2
0
for PC1, 2
1
for PC2, 2
2
for PC4, …, and 2
9
for PC256. A desired position
number between 0 and 511 (maximum) can be specified.
„ Pause (*STP)
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The remaining movement is retained and will be resumed when the signal is turned ON again.
To abort the movement command, turn ON the alarm reset signal while this signal is OFF to cancel the
remaining movement.
The *STP signal can be used for the following purposes:
[1] Provide a low-level safety measure to stop the axis while the servo is ON, such as a sensor that detects a
person approaching the system
[2] Prevent contact with other equipment
[3] Perform positioning based on sensor or LS detection
(Note) If the *STP signal is input while the actuator is performing home return, the movement command will be
retained if the actuator is yet to contact a mechanical end. If the signal is input after the actuator has
reversed upon contacting a mechanical end, home return will be performed again from the beginning.
„ Home return (HOME)
The controller will start home return operation upon detection of an OFF o ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as many
times as required.
„ Servo ON (SON)
The servo remains ON while this signal is ON.
When turning the power supply ON, turn this signal ON after checking that the controller does not interfere with
peripheral devices, taking the safety of the entire device into consideration.
Due to the characteristics of the device, it is possible to disable the signal using parameter No. 21 when it is not
used.
If this signal is disabled, the servo turns ON automatically after turning the power supply ON. The signal is
enabled at shipment from the factory.