IAI America PDR-101-MW - Manual (Page 29)

19
Signal
classification
Pin
No.
Symbol Signal name Function
9 SON Servo ON
Operation of the servo motor is enabled when this
signal is turned on. The servo motor is placed in
the free-run status when this signal is turned off.
In the case of an actuator with a brake, the brake
is released when this signal is turned on.
If this signal is turned off during operation, forced
stop processing is performed and the motor is
placed in the free-run status. In the case of an
actuator with a brake, the brake is applied at the
same time as the motor is placed in the free-run
status.
10 RES Alarm reset Alarms are reset at the rising edge of this signal.
11 ORGC
Homing
command Homing operation starts at the rising edge of this
signal.
12 TL
Torque limit
selection
The torque limit value set in the parameter
becomes valid when this signal is turned on. To
perform push operation, turn this signal on before
starting the positioning of the actuator or in the
middle of the positioning operation.
Sequence
signal
input
13 CSTP
External
forced stop
When this signal is turned on, the robot
decelerates to a stop at the forced stopping torque
and the servo is turned off.
Power
supply
14 COM-B
Power-suppl
y common (-)
Power-supply common for external I/O signals.
Connect this terminal to the - side of a 24 VDC
supply.
15 NP
16 /NP
17 PP
Command
pulse
input
18 /PP
Pulse-train
input
Inputs pulse-train for positioning command.
Open-collector method: Max. 200 kpps
Differential receiver method: Max. 500 kpps
The command pulse mode can be chosen from
90-degree phase shifted signal (phases A/B, in
quadrature), pulse-train + forward/reverse signal,
and forward/reverse pulse, and input logic mode
can be selected from positive logic and negative
logic for each of the above.
Moreover, the amount of unit movement per pulse
can be set by an electric gear. (The command
pulse input mode and electric gear settings are
specified using parameters.)