IAI America SCON-C - Manual (Page 91)

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 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.
If the RMOD input is disabled by parameter No. 41, the MODE switch status will be output by this signal.
 Home return completion (HEND)
This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:
[1] This signal turns ON when home return operation has completed with respect to the first move command
issued with the start signal.
[2] Home return operation has completed following an input of the home return signal.
Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset is
executed, or the home return signal is input again.
The HEND signal can be used for the following purposes:
[1] Check prior to establishing the home if movement toward the home direction is permitted, in cases where
an obstacle is located in the direction of the home
[2] Use as a condition for writing the current position in the teaching mode
[3] Use as a condition for enabling the zone output signal
 Position complete (PEND)
This signal indicates that the target position was reached and positioning has completed.
Use this 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 move command is issued by turning ON the start signal, the PEND signal will turn OFF.
Once the start signal turns OFF, the PEND signal will turn ON again when the deviation from the target position
falls within the positioning band.
Once turned ON, the PEND signal will not turn OFF even when the position subdequently exceed the positioning
band.
(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 positioning band: 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.
 Ready (SV)
This is a monitor signal indicating that the servo is ON and the motor is ready.
The ON/OFF state of this signal is synchronized with the lit/unlit state of the “SV” LED on the front face of the
controller enclosure.
Use this signal as a condition for starting a movement command on the PLC side.
For the signal timings after the power is input, refer to 3.1, “How to Start.”