Shibaura CA20-M10, Operating Manual

Page: 162 / 384

9
– 4

9.2.2 Functions of each input/output signal
(1) Error output
This turns ON when an error occurs in the controller.
Refer to Chapter 19 for the error types and process methods.
(2) Positioning complete output
This turns ON when the deflection of the cumulative value of the command pulse (pulses
from external controller) and cumulative value of the feed-back pulses (pulses of motor
encoder in axis) is smaller than the in-position value set with the parameters.
Note that this will turn OFF regardless of the cumulative value deflection during the servo free
state.
(3) Origin LS output
This outputs the information on the origin limit switch in the axis.
(4)
φ
Z (Encoder Z-phase pulse)
This outputs one signal per motor rotation output from the motor encoder in the axis.
Output signal circuit
(5) Counter clear input
This clears the software counter in the controller accumulating the command pulses and the
deflection counter that shows the difference of the command pulses and feedback pulses.
ON: Clear
OFF: Normal
(6) Servo ON input
This controls the exciting and non-exciting state of the servomotor in the axis.
Servo ON: Servo locked state.
Servo OFF: Servo free state.
NOTE

Turn the power ON when the servo ON signal is in the OFF state. When recovering
from an error or emergency stop state, turn the servo ON signal OFF once.
If the power is turned ON while the servo ON signal is ON, or when recovering from
an error or emergency stop state, the servo will not lock.

The servo free state caused by the servo ON input differs from the servo free state
caused by a hardware state such as emergency stop. This is the servo free state
caused by the software.
+COM1
各出力（異常、位置決め完了、原点 LS、φ Z）
-COM2
Each output (Error, positioning complete, origin LS,
φ
Z)