IAI America SCON-C - Manual (Page 175)

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3.2.4 Home Return Completion Signal (HEND)
This signal will turn ON when home return is completed and the coordinate system is established.
Function
This signal will turn ON when the home return initiated by the applicable signal, teaching pendant or PC software
is completed.
The signal will turn OFF once the servo turns off. After the servo is turned off, perform home return again.
Caution:
 The software stroke limits set by the actuator parameters remain effective only while this signal is
ON.
 Although the actuator can be operated without using this function, if this function is not used the
necessary measures must be taken such as not sending pulse commands with travel distances
exceeding the effective stroke or providing external limit switches to forcibly stop the actuator upon
reaching the stroke ends.
3.2.5 Torque Limiting Signal (TLR)
This signal will turn ON when the torque reaches the limit while torque is being limited.
Function
This signal will turn ON when the actuator thrust (motor torque) reaches the torque limit set by the torque limit
parameter while the TL (Torque-limiting selection) signal is ON.
This signal will turn OFF when the motor torque lowers.
Caution:
 Even if the TL signal is turned ON, the TLR signal will not turn ON unless the actuator torque
reaches the specified torque.
 Do not turn the TL signal OFF while this signal is ON.
(For details, refer to “Caution” in 3.1.4, “Torque-limiting Selection Signal (TL).”)