IAI America MSCON - Manual (Page 110)

3.4 Fieldbus
Type
Address Map
102
(ON = Applicable bit is “1”, OFF = Applicable bit is “0”)
Signal Type Bit Symbol Contents Details
Current
Position
32 bits –
32-bit signed integer indicating the current position
Unit: 0.01mm
(Example) If +10.23mm, input 000003FF
H
(1023mm in decimal system).
(Note) Negative numbers are two’s implement.
3.7 (27)
Completed
Position
No.
(Simple
Alarm
Code)
16 bits
PM1 to
PM128
16-bit integer
The positioning complete position number is output
in a binary number once getting into the positioning
band after moving to the target position.
In the case that the position movement has not
been performed at all, or during the movement, “0”
is output. Read it by turning PEND Signal ON after
movement.
The simple alarm code (refer to Chapter 8
Troubleshooting) is output while an alarm is issued
(ALM of Status Signal is ON).
3.7 (27)
b15 EMGS This signal turns ON during an emergency stop 3.7 (2)
b14 CRDY
This signal turns ON when the controller is
standing by.
3.7 (1)
b13 ZONE2
“ON” for the current position within the zone set
range
The zone range setting is necessary for the
parameter.
b12 ZONE1
“ON” for the current position within the zone set
range
The zone range setting is necessary for the
parameter.
3.7 (11)
b11 PZONE
Position zone
This signal turns ON when the current position is
inside the specified position zone.
3.7 (11)
b10 MODES
Teaching mode signal
(Invalid in Simple Direct Mode)
This signal is ON while the teaching mode is
selected.
3.7 (15)
b9 WEND
Position data import complete
(Invalid in Simple Direct Mode)
This signal turns ON when reading is complete.
3.7 (16)
b8 MEND
This signal turns ON when movement command is
complete, stopping with servo-on and pressing is
missed, and turns OFF when in emergency stop
with servo is OFF and while CSTR Signal is ON
3.7 (21)
b7 BALM
Warning for absolute battery voltage drop
This signal turns ON with battery voltage drop
3.7 (22)
b6 – Unavailable –
b5 PSFL
This signal turns ON when the actuator missed the
load in push-motion operation.
3.7 (20)
b4 SV
This signal turns ON when operation standby is
complete (Servo is ON).
3.7 (5)
b3 ALM This signal is ON while an alarm is generated. 3.7 (3)
b2 MOVE This signal is ON while in movement. 3.7 (8)
b1 HEND
This signal turns ON at home return complete and
is kept unless the home position is lost due to a
fact such as an alarm.
3.7 (6)
P
LC
In
pu
t
Status
Signal
b0 PEND
This signal turns ON when positioning is complete
and stopping with servo-on, and turns OFF when
pressing is missed and while CSTR Signal is ON
3.7 (9)