IAI America ASEL - Manual (Page 352)

Part 3 Positioner Mode
Chapter 5 T
eaching Mode
330
Part 3 Positioner Mode
Servo ON (SON)
The servo remains on while this signal is ON.
Use this signal if servo ON/OFF control is required as part of the safety circuit for the entire system to be
provided on the PLC side.
To operate the actuator using the start input/jog input, the servo ON input signal must be ON. If the servo
ON input signal is OFF, these operation commands will not be accepted. (Only the commands will be
ignored, and no error will generate.)
(Note) When this signal turns OFF while the actuator is moving, the actuator will not decelerate to a stop.
It will complete the movement to the target position, after which the servo will turn off.
Error reset (RES)
This signal is used to reset the alarm output signal (*ALM) that has been generated due to an error.
If an error occurred, check the content of the error and then turn this signal ON.
The error will be reset upon detection of the leading edge of the signal.
(Note) Errors of cold start and higher level cannot be reset using this signal. The power must be
reconnected to reset these errors. For details, refer to Appendix, “Error Level Management.”
Teaching mode specification (MODE)
When this signal turns ON, the normal positioning mode will change to the teaching mode. When the new
mode becomes effective, the TCMD output signal will turn ON.
Program the PLC so that it will accept PWRT/JOG1+ and other operation commands after confirming that
the TCMD output signal is ON.
To return the controller to the normal positioning mode, turn this signal OFF.
Program the PLC so that it will accept operation commands in the normal positioning mode after
confirming that the TCMD output signal is OFF.
The controller will not return to the positioning mode right away when this signal is turned OFF while the
actuator is jogging. It will not immediately stop the actuator, either. The controller will complete the
movement first, and then return to the positioning mode.
Exercise caution because the actuator will start moving if this signal is turned ON when the servo is on in
the positioning mode while any jog input signal (JOG1+, JOG1-, etc.) is also ON.
Current position write (PWRT)
This signal is effective when the aforementioned TCMD output signal is ON.
If this signal has remained on for at least 20 msec, the controller will load the position number
corresponding to the binary code specified by PC1 through PC11 as currently detected, and write the
current position data in the corresponding target position field of the position data table.
If any of the data fields other than the target position (such as speed, acceleration/deceleration and
positioning band) is not yet defined, the default value of the applicable parameter (all-axis parameter Nos.
11, 12 or 13) will be written in that field.
When the data write is successfully completed, the WEND output signal will turn ON.
Program the PLC so that it will turn this signal OFF once the WEND signal turns ON. When this signal
turns OFF, the controller will turn OFF the WEND signal.
(Note) An error will generate if position data is written before home return is completed. Position data
cannot be written while the actuator is jogging.
Warning : Turning the servo ON near the mechanical end may disturb the magnetic pole phase
detection, and may cause the magnetic pole unconfirmed error or the magnetic pole
detection error.
Put the slider or rod away from the mechanical end when turning the servo ON.