T86-IO
User Manual
-9-
szruitech.com
9
3.5.3 ALM, Pend port: used for alarm and in place output.
The ALM port is used to output the operating status of the driver to an external control circuit. When
the driver is in the error state and the normal working state, ALM outputs different optocoupler
levels.
The Pend port is used to output the driver in-place signal. When the difference(position deviation)
between the pulse command position sent by the upper computer and the current position of the
stepper servo motor is less than the set value, the in-place signal is output. The upper computer
receives the signal and confirms that the positioning is complete.
In addition, ALM and Pend ports can be reused as brake control (break) signal through software
adjustment, which is used to control the brake switch of stepper servo motor with brake. Since the
brake coil is an inductive load, and the coil heating is serious when the motor is running, customers
can select special brake controller according to their needs to reduce the brake heating and
improve life and reliability.
Rtelligent provides solutions for dedicated brake controllers, examples are as follows:
