48
•
Operation Theorem
You can change the input logic by
_8132_
set_alm_logic()
function.
Whether or not the PCI-8132 is generating pulses, the ALM signal lets it
output the INT signal.. The ALM status can be monitored by software
function:
_8132_
get_io_status()
. The ALM signal can generate IRQ by
setting the bit 2 of INT. factor in software function:
_8132_set_int_factor().
4.2.3 ERC
The deviation counter clear signal is inserte d in the following 4 situations:
（
1
）
home return is complete;
（
2
）
the end-limit switch is active;
（
3
）
an alarm signal stops OUT and DIR signals;
（
4
）
an emergency stop command is issued by software operator.
Since the servomotor operates with some delay from pulse generated
from the PCI-8132, it keeps operating by responding to the position error
remaining in the deviation counter of the driver if the
±
EL signal or the
completion of home return stops the PCL5023 from outputting pulses. The
ERC signal allows you to immediately stop the servomotor by resetting the
deviation counter to zero. The ERC signal is output as an one-shot signal.
The pulsewidth is a time length of 10ms. The ERC signal will automatically
output when
±
EL signals, ALM signal is turned on to immediately stop the
servomotor. User can set the ERC pin output enable/disable by
_8132_
set_erc_enable()
function. ERC pin output is set output enabled
when initializing.
OFF
ON
ERC Output
Approximate 10ms