IAI America PCON-CA - Manual (Page 141)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
133
z Servo OFF status
1. Once the actuator stops, no retaining torque will be supplied.
2. The pulse train input, HOME (home return signal), TL (torque-limiting selection signal)
and CSTP (external forced stop signal) are all ignored.
3. Output signals SV (ready signal), HEND (home return complete signal) and TLR (torque
limiting signal) are all cleared (turned OFF).
4. INP (Positioning Completion Signal)
The INP (Positioning Completion Signal) is OFF when the servo is OFF.
[6] Home Return (HOME, HEND)
Input Output
PIO signal
HOME HEND
The HOME signal is intended for automatic home return.
When the HOME signal is turned ON, the command will be processed at the leading edge (ON
edge) of the signal and the actuator will perform home return operation automatically.
Once the home return is completed, the HEND (home return completion) signal will turn ON.
Set the home (enter “0”) in the current value register of the host controller (PLC) using the
current value preset function, etc., when the HOME signal turns ON.
Caution:
(1) The HOME signal is given priority over any pulse train command. Even when the
actuator is moving with a pulse train command, it will start home return once the
HOME signal is turned ON.
(2) The HOME signal is processed only at the leading edge (ON edge) of the signal.
(3) If the SON signal is turned OFF or an alarm is detected during home return, the home
return operation will stop. If the servo is turned OFF, the home return command will be
cancelled even when the HOME signal remains ON. To perform home return again,
therefore, turn the HOME signal OFF and then turn it ON again.
(4) The actuator can be operated without using this function. If this function is not used,
however, management of position data will solely be dependent on the host controller
(monitoring soft stroke limit is effective in the home return complete status).
Therefore, take the necessary measures to prevent an over-stroke, such as not
sending pulse commands with travel distances exceeding the effective stroke or
providing external limit switches for stroke end detection, etc., to forcibly stop the
actuator.
(5) Servo-off or deviation counter clearing causes HEND to be turned OFF. Perform home
return again.