IAI America PDR-101-MW - Manual (Page 45)

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5.2.6 Alarm/Fault Signal (ALM)
This signal turns off when the protection circuit (function) of P-Driver detects an error.
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Function
This signal turns off when an alarm is detected and the protection circuit (function) is actuated, and the
base current is interrupted. This signal is normally turned on. After having been turned off, it can be
turned on again when the cause of the alarm is removed and the RES (reset) signal is turned on (except
in case of alarms at the cold start level).
When an alarm is detected, the ALM LED located on the front side of the controller turns on. This LED is
normally turned off.
z
If an error at the cold start level occurs, turn the RES signal on while the SON (servo ON) signal is off
to cancel the displayed error. If the SON signal is turned on again, however, an alarm is generated
again.
z Check the cause of the alarm and eliminate the reasons for it; then restart the controller. Alarm codes
can be checked with the PC software. The controller can store 16 alarm history messages, which are
kept in memory unless the power supply is interrupted. Moreover, the PC software displays the
occurrence times along with the alarm history messages; it is thus possible to check when and what
alarm occurred.
z See 9.5.2, “Error List Window,” for details of alarm history messages.
5.2.7 Feedback Pulse Output Signals (AFB, /AFB, BFB, /BFB, ZFB, /ZFB, GND)
These signals output position detection data as differential pulse trains.
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Function
These signals output position detection data as differential pulse trains (phases A, B and Z). The host
controller can read the current position value of the actuator in real time using the counter function, etc.
+
Related parameters
The resolution of the pulse output is determined by the electronic gear ratio of the command pulse input
set in the position control parameters; the position detection data is output with the same resolution as
the command signal.
The feedback pulse output mode can be set by specifying the FBP mode, a position control parameter.
It is possible to disable these pulse signals using the PIO function setting flag, an external interface
parameter. Disable the feedback pulse outputs if they are not used.
z
Set these signals in such a way that there are no logical contradictions if you import them in the host
controller to configure a closed loop.
z Phase Z signals are output as is if the encoder of the actuator is not a serial encoder. With serial
encoders, the range of ±0.5° in mechanical angle from the position of point 0 (home) is output as
phase Z signal. This precision is only guaranteed when the revolution speed of the motor is 100 rpm
or less due to the communication cycle with the encoder.
Caution
Caution