IAI RCP2 Series Operation Manual

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IAI RCP2 Series Operation Manual Manual pdf 56 page image

445.3.2 Details of Each Output Signal Ready (SRDY)This is a monitor signal indicating that the servo is ON and the motor is ready.The ON/OFF status of the SRDY signal is synchronized with the lit/unlit status of the “RUN” LED on thefront panel of the enclosure.Use this signal as a condition for starting a movement command on the PLC side.Refer to 7.1, “How to Start,” for the timing to issue this signal after the power is input. Moving (MOVE)This signal is output while the servo is ON and the actuator is moving (also during home return, push &hold operation or jogging).Use the MOVE signal together with the PEND signal to allow the PLC to determine the actuator status.The MOVE signal will turn OFF after positioning or home return is completed or a judgment is madeduring push & hold operation that the load is being contacted. Position complete (PEND)This signal indicates that the target position was reached and positioning has completed.Use the PEND signal together with the MOVE signal to allow the PLC to determine the positioning status.When the controller becomes ready after the power was input and the servo has turned ON, this signal willturn ON if the position deviation is within the in-position range.Then, when a movement command is issued by turning ON the start signal, the PEND signal will turnOFF. It will turn ON again when the deviation from the target position falls within the in-position range.Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequentlyexceeds the in-position range.(Note) If the start signal remains ON, the PEND signal will not turn OFF even when the deviation fromthe target position falls within the in-position range: it will turn ON when the start signal turnsOFF.Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input orthe servo is OFF. Home return completion (HEND)This signal is OFF immediately after the power is input, and turns ON in either of the following twoconditions:(1) Home return operation has completed with respect to the first movement command issued with thestart signal.(2) Home return operation has completed following an input of the home return signal.Once turned ON, the HEND signal will not turn OFF unless the input power supply is cut off, a soft reset isexecuted, or the home return signal is input again.The HEND signal can be used for the following purposes:(1) Check prior to establishing the home if movement toward the home direction is permitted, in caseswhere an obstacle is located in the direction of the home(2) Use as a condition for writing the current position in the teaching mode(3) Use as a condition for enabling the zone output signal