ADLINK Technology PCI-8254, User Manual

Page: 207 / 226

Motion Control Theory 193
PCI-8254 / PCI-8258
4.11.1.2 Servo Alarm (ALM)
See table below for ALM hardware input pins and corresponding
axis number:
ALM signal is a hardware input signal where ALM signal is from
servo drive to controller through ALM pin. When ALM signal is set
to ON status, the controller responses with following actions:
1. If ALM signal is asserted for an axis in motion status, the
controller stops motion of the axis immediately and error
stop code of the axis is set to "2" (STOP_ALM) and
motion status of axis is set to abnormal stop (ASTP =
ON).
2. If the axis is not in motion status and the ALM signal is
asserted then user's motion command shall be ignored
by the controller while error stop code of the axis is set to
"2" (STOP_ALM) and motion status of axis is set to
abnormal stop (ASTP = ON).
4.11.1.3 Plus and Minus Limit Signal (PEL/MEL)
See table below for EL hardware input pins and corresponding
axis number:
P1A Pin No Signal Name Axis # P1B Pin No Signal Name Axis #
35 ALM1 0 35 ALM5 4
41 ALM2 1 41 ALM6 5
85 ALM3 2 85 ALM7 6
91 ALM4 3 91 ALM8 7
P1A Pin No Signal Name Axis # P1B Pin No Signal Name Axis #
38 PEL1 0 40 MEL1 0
44 PEL2 1 46 MEL2 1
88 PEL3 2 90 MEL3 2
94 PEL4 3 96 MEL4 3
38 PEL5 4 40 MEL5 4
44 PEL6 5 46 MEL6 5
88 PEL7 6 90 MEL7 6
94 PEL8 7 96 MEL8 7