IAI America ACON-CG - Manual (Page 75)

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5. I/O Signal Control and Signal Functions
5.3.2 Details of Each Output Signal
„ Operating mode status (RMDS)
The internal operating mode of the controller is output based on the AUTO/MANU selector switch on the
controller and the RMOD signal received by the input port. If the selector switch is set to “AUTO” and the RMOD
signal is OFF (AUTO), the controller is in the AUTO (OFF) mode. If the selector switch is set to “MANU” and/or
the RMOD signal is ON (MANU), the controller is in the MANU (ON) mode.
„ Completed position number (PM1 to PM256)
These signals can be used to check the completed position number when the PEND signal turns ON.
The signals are output as a binary code.
Immediately after the power is input, all of the PM1 to PM256 signals are OFF.
6 bits from PM1 to PM32 in case of the positioning mode (standard type) and teaching mode (teaching type), 8
bits from PM1 to PM128 in case of the 256-point mode (256-point type), and 9 bits from PM1 to PM256 in case
of the 512-point mode (512-point type).
All of these signals are OFF also when the actuator is moving.
As described above, this signal is output only when positioning is completed.
(Note) All of these signals will turn OFF when the servo is turned OFF or an emergency stop is actuated. They
will return to the ON status when the servo is turned ON again, provided that the current position is
inside the in-position range with respect to the target position. If the current position is outside the range,
the signals will remain OFF.
When the power is input, the PEND signal will turn ON. These signals are all OFF, this condition is the
same as one achieved after positioning to position “0” is completed.
Check the position of position 0 after the movement command has completed.
If an alarm is present, the corresponding alarm code (abbreviated form) consisting of four bits from PM1 to PM8
will be output.
The meanings of these signals vary between the normal condition and the alarm condition, so be careful not to
use them wrongly in the sequence.
„ Moving (MOVE)
This signal is output while the servo is ON and the actuator is moving (also during home return, push & hold
operation or jogging).
Use the MOVE signal together with the PEND signal to allow the PLC to determine the actuator status.
The MOVE signal will turn OFF after positioning or home return is completed or a judgment is made during push
& hold operation that the work part is being contacted.
„ Position complete (PEND)
This signal indicates that the target position was reached and positioning has completed.
Use the PEND signal together with the MOVE signal to allow the PLC to determine the positioning status.
When the controller becomes ready 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 range.
Then, when a movement command is issued by turning ON the start signal, the PEND signal will turn OFF. It will
turn ON again when the deviation from the target position falls within the in-position range.
Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequently exceeds the
in-position range.
(Note) If the start signal remains ON, the PEND signal will not turn OFF even when the deviation from the target
position falls within the in-position range: it will turn ON when the start signal turns OFF.
Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input or the
servo is OFF.