IAI America PDR-101-MW - Manual (Page 28)

18
(3) Electromagnetic Brake Power-Supply Input
This input is required when the actuator has an electromagnetic brake.
Connect a dedicated external power supply.
24 VDC ±20% 1.0 A (peak value)
Do not use the same power supply for the brake power supply as for the I/O signals.
List of electromagnetic brake power-supply input connector terminals (Phoenix MC1.5/2-GF-3.81 DIP)
Symbol Function
+
BK
-
Electromagnetic brake power-supply input terminals
* Connectors (plugs) are standard accessories.
4.4 I/O Signals
Connect the control I/O signals to the external (host) controller.
List of DI/DO interface connector terminals (3M 10226-52A2JL)
Signal
classification
Pin
No.
Symbol Signal name Function
1
Power
supply
2
COM-A
Power-supply
common (+)
Power supply common for external I/O signals.
Connect this terminal to the + side of a 24 VDC
supply. (Pin No. 1 and 2 are internally connected.)
3 SRDY System ready
Turns on when the initialization is completed
normally and control of P-Driver is enabled after the
power supply is turned on. Synchronized with the
RDY LED located on the front side of the controller.
4 RUN
Operation
ready
Turns on when the servo is turned on and operation
of the servo motor is enabled. Synchronized with the
RUN LED located on the front side of the controller.
5 INP
Positioning
completion Turns on when the robot enters the set in-position
range. (The in-position range is set via parameters.)
6 ORGR
Homing
completion Turns on when homing is complete, as indicated by
the ORGC input.
7 TLR Torque limiting
Turns on when the torque reaches the set torque
limit value while TL is on. (The torque limit value is
set via parameters.)
Sequence
signal output
8 ALM Alarm
Turns off when a protection circuit (function) is
actuated and the base current is interrupted. This
signal is normally turned on after the power supply is
turned on. Synchronized with the ALM LED located
on the front side of the controller.
The ALM LED is lit in case of an alarm.