IAI RoboNet, Operation Manual

Page: 94 / 398

74
Part 1 Specification
3.8.2 I/O Signal Functions
(1) Controller Ready (CRDY) PLC Input Signal
This signal turns “1” (ON) when the controller has become ready to perform control after the power is turned ON.
„
Function
This signal turns “1” (ON) when the controller has been successfully initialized and become ready to perform control
after the power is turned ON, regardless of the alarm status, servo status, etc.
Even when an alarm is present, this signal is always “1” (ON) whenever the controller is ready.
(2) Emergency Stop (EMGS) PLC Input Signal
This signal turns “1” (ON) when the controller has actuated an emergency stop.
„
Function
This signal turns “1” (ON) when the controller generates an alarm or actuates an emergency stop (= the motor driver
power is cut off). It will turn “0” (OFF) once the emergency stop is cancelled. The applicable alarms are
operation-cancellation alarms and cold-start alarms.
(3) Alarm (ALM) PLC Input Signal
This signal turns “1” (ON) when the controller’s protective circuit (function) has detected an alarm.
„
Function
This signal turns “1” (ON) when a protective circuit (function) is activated due to detection of an error.
When the cause of the alarm is removed and the reset (RES) signal is turned “1” (ON), the signal will turn “0” (OFF).
(With cold-start alarms, the power must be reconnected.)
When an alarm is detected, the ALM LED (red) on the front panel of the controller illuminates. This LED remains unlit
in a normal condition.
(4) Reset (RES) PLC Output Signal
This signal has two functions. It can be used to reset controller alarms or to cancel the remaining travel distance during a
pause.
„
Function
[1] While an alarm is present, remove the cause of the alarm and change this signal from “0” (OFF) to “1” (ON), and
the alarm signal will be reset. (With cold-start alarms, the power must be reconnected.)
[2] Change this signal from “0” (OFF) to “1” (ON) while the actuator is paused, and the remaining travel distance will
be cancelled.