HarmonicDrive H A - 800A, Manual

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5-3 Details of input signals
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5-3 Details of input signals
The following explains the details of input signals.
For the signal logic, refer to P5-5.
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
P: Position control S: Speed control T: Torque control
Parameter
No.
Signal name
(Abbreviation)
Function
Default
setting
Applicable
control
mode
－
Servo-ON
(S-ON)
When the servo ON signal is enabled while the
following conditions are satisfied, the driver's servo
circuit turns ON and the driver becomes ready:
1. No servo alarm is present.
2. [UA93: Main circuit voltage low] is not
present.
Disabling the servo-ON signal turns OFF the servo
circuit.
If the system parameter mode [SP55: DB
enable/disable setting] is set to 1, the built-in dynamic
brake turns ON.
Caution
The pin assignment of this signal is fixed. It is
assigned to pin 2 and the logic is set to normally
open.
－
P.S.T
SP00 Emergency
stop
(ESTOP)
When this input signal is enabled, the servo is turned
OFF and [AL01: Emergency stop] is generated.
If this signal is assigned to an input pin of CN2, the
system operates according to the operation set by the
ON/OFF state of the signal.
If [SP55: DB enable/disable setting] is set to 1 when
the emergency stop signal is enabled, the built-in
dynamic brake turns ON.
Caution
The emergency stop function is enabled even
when the signal is not assigned to an input pin.
If the signal logic is set for the normally closed
without assigning emergency stop to an input pin,
an emergency stop alarm generates when the
driver power is turned ON and the alarm will
remain active.
0000 P.S.T
SP01 Alarm reset
(RESET)
If a driver alarm generates, the alarm can be reset by
the edge of this input signal.
The alarm reset signal is effective only when the
applicable alarm is resettable and the corresponding
alarm condition has already been reset. For the
resettable alarms, refer to [Alarms and remedial
actions] (P11-1).
The servo-ON signal must be input again before the
system becomes ready.
0002 P.S.T
SP02 Deviation
counter clear
(CLEAR)
If the driver is operating in the position control mode,
the value of the deviation counter is added to the
command counter at the edge of this input signal to
clear the deviation counter to 0.
0003 P