IAI PSEL, Руководство по эксплуатации

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Part 3 Positioner Mode
4. Details of Each Output Signal
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Positioning complete (PEND)
This signal indicates that the actuator reached the target position and the positioning has completed.
The signal will turn ON when the servo has turned on after the main power was input, and the controller
becomes ready.
Thereafter, this signal will turn OFF when the start signal is turned ON to execute a movement command.
The signal will turn ON if the position deviation from the target position is within the in-position band after
the start signal has turned OFF.
Once this signal turns ON, it will not turn OFF even after the position deviation subsequently exceeds the
in-position band.
(Note) If the start signal is ON, this signal will not turn ON even when the position deviation from the
target position falls within the in-position band. The signal will turn ON after the start signal turns
OFF.
The signal will remain OFF while the servo is off.
„
Home return complete (HEND)
This signal is OFF when the power is input. It will turn ON upon completion of home return (if the actuator
is of incremental specification).
To perform home return, specify a desired position number, and then turn ON the start input signal.
Use this signal as a condition for moving the actuator and also for writing the current position in the
teaching mode.
(Note) Actuators of incremental specification must always perform home return after the power is input.
In the teaching mode, the actuator can be jogged before it completes home return, but the soft
limits are still ineffective. Since coordinate values have no meaning in this condition, exercise due
caution not to let the actuator contact the stroke end.
Once this signal turns ON, it will not turn OFF until the input power is cut off or the home-return signal is
input again.
„
Teaching mode specification (MODES)
This signal will turn ON when the teaching mode was selected by the teaching mode input signal (turning
ON the MODE signal) and the teaching mode has become effective.
Thereafter, this signal will remain ON until the MODE signal turns OFF.
Program the PLC so that it will start teaching operation after confirming that this signal has turned ON.
„
Write complete (WEND)
This signal is effective only in the teaching mode.
The signal is OFF immediately after the controller has entered the teaching mode, and will turn ON upon
completion of the position data write initiated by the current position write signal.
When the current position write signal turns OFF thereafter, this signal will also turn OFF.
Program the PLC so that it will recognize completion of write operation upon turning OFF of this signal.
„
Alarm (*ALM)
This signal remains ON while the controller is normal, and will turn OFF if an alarm occurs.
This signal will turn OFF when an error of operation-cancellation level or higher generates.
Program the PLC so that it will monitor this signal and implement appropriate safety measures to protect
the entire system when the signal turns OFF.
For details on alarms, refer to Appendix “
~
Error Level Management” and “
~
Error List.”
„
Ready (RDY)
This signal will turn ON when the initialization has completed successfully after the main power was input,
and the controller enters the mode where it can control the actuator.
This signal will turn OFF when an error of cold level or higher generates.
Use this signal as a condition to start control on the PLC side.