HarmonicDrive H A - 800A, Руководство пользователя

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5-6 Details of output signals
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5-6 Details of output signals
The following explains the output signals assigned to outputs 1 to 7 (pins 16 to 22 of CN2).
* The setting change of the system parameters (SP00 to 79) is enabled by reconnecting the control
power supply after changing the setting.
Set
value
Signal name
(Abbreviation)
Function
Applicable
control
mode
01
Operation
preparation
complete
(READY)
This is an operation preparation complete signal output of the driver.
When the driver's servo-ON signal input is enabled without any
causes of alarm, the operation preparation complete signal is also
enabled.
If the servo-ON signal is disabled, this signal is also disabled.
When an alarm generates, this is disabled and the servo becomes
free.
P.S.T
02
Servo ON input
enable
(S-READY)
This signal indicates that the driver is free from alarms and the
servo-ON signal can be input.
This signal is disabled when an alarm is present.
P.S.T
03
Alarm
(ALARM)
This signal is output in an alarm condition where the driver has
detected an error.
The servo becomes free.
P.S.T
04
In-position
complete
(IN-POS)
This signal indicates that the deviation counter value is inside the
values set in [AJ04: In-position range] (+set value to - set value).
The driver only monitors the status of deviation counter and this
signal does not affect the servo control directly.
P
05
Attained speed
(HI-SPD)
This signal indicates that the motor rpm has reached or exceeded
the value set in [AJ05: Attained speed judgment value].
The driver only monitors the status of attained speed and this signal
does not affect the servo control directly.
P.S.T
06
Attained torque
(HI-TRQ)
This signal indicates that the actuator's output torque has reached or
exceeded the value set in [AJ06: Attained torque judgment value].
The driver only monitors the attained torque status and this signal
does not affect the servo control directly.
P.S.T
07
Speed limiting
(SLMT-OUT)
This signal indicates that the motor speed is limited to the speed
limit selected by [SP11, SP12: Internal speed limits 1 and 2 inputs].
P
08
Torque limiting
(TLMT-OUT)
This signal indicates that the actuator's torque is limited by an
internal torque limit input or external torque limit input.
P.S
09
Zero speed
(ZERO-SPD)
This signal indicates that the motor rpm has dropped to or below the
speed set in [AJ07: Zero speed judgment value].
Control mode change from position control to other control, or from
other control mode to position control, is prohibited unless the zero
speed output is enabled.
P.S.T
10
Control modes
(CNT-MOD)
The signal that has been input as the control mode input signal is
output.
P.S.T
11
Dynamic brake
actuated
(DB-OUT)
When [SP55: Dynamic brake enable/disable] is set to 01: Enable,
this signal indicates that the dynamic brake is operating .
This is actuated when the power is cut OFF, the servo is turned OFF,
or an alarm or warning [UA93: Main circuit voltage low] is generated.
In the HA-800A-24, this function is disabled (output indeterminate).
P.S.T
12
Alarm code 1
(ALM-COD1)
When a driver alarm or warning is present, whether it is an alarm or
warning is output using a 3-bit code. Alarm code output 1 outputs the
LSB of this 3-bit code.
For details on alarm codes, refer to [Alarm List] (P11-1) and
[Warning List] (P11-14).
P.S.T
13
Alarm code 2
(ALM-COD2)
14
Alarm code 3
(ALM-COD3)