3. POSITIONING SIGNAL
3
−
12
(16) Servo READY signal (M1615+20n)
(a) The servo READY signal comes ON when the servo amplifiers connected
to each axis are in the READY status.
(b) The signal goes OFF in the following cases.
•
When M2042 is OFF
•
When no servo amplifier is installed
•
When the servo parameters have not been set
•
When the power supply module has received an emergency stop
input from an external source
•
When the M1815+20n signal comes ON and establishes the servo
OFF status
•
When a servo error occurs
For details, see Appendix 2.4 "Servo Errors"
POINT
When an axis driven by an MR-[ ]-B becomes subject to a servo error, the
affected axis only goes into the servo OFF status.
(17) Torque control in progress signal (M1616+20n)
Signals for axes whose torque is being controlled are ON.
(18) M-code output signal (M1619+20n)
(a) This signal indicates M-code output in progress.
(b) This signal is set to OFF at the time of stop command, cancel signal, skip
signal or FIN signal input.
OFF
OFF
ON
ON
"M-code output in progress" signal
(M1619+20n)
FIN signal
(M1819+20n)
M3
M1
M2
M-code
POINTS
(1) The FIN signal and "M-code output in progress" signal are both for the
FIN signal wait function.
(2) The FIN signal and "M-code output in progress" signal are effective only
when FIN acceleration/deceleration is designated in the servo program.
Otherwise, the FIN signal wait function is disabled, and the "M-code
output in progress" signal is not set to ON.
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