Page 47 - RoboCilindri, RCP4, robocilindri, sinta,

PCON controllerI/O Signals in Pulse-train Control ModeConnect an external device (such as PLC) according to this table.Pin Category I/O number Signal Signal name Parameter No. 25, “PIO pattern 6” number abbreviation1A 24V3A Pulse 4A input5A 6A 7A8A9A10A11A Input12A13A 14A 15A 16A 17A 18A 19A 20A1B 2B3B4B 5B6B7B Output8B9B 10B 11B 12B 13B 14B 15B 16BP24 Power supplyPP Di erential pulse-train input (+)/PP Di erential pulse-train input (-)IN0 SON Servo ONIN1 RES ResetIN2 HOME Home returnIN3 TL Torque limit selectionIN4 CSTP Forced stopIN5 DCLR Deviation counter clearIN6 BKRL Forced brake releaseIN7 RMOD Operation mode switchingIN8 NC —IN9 NC —IN10 NC —IN11 NC —IN12 NC —IN13 NC —IN14 NC —IN15 NC —OUT0 PWR System readyOUT1 SV Servo ON statusOUT2 INP Positioning completeOUT3 HEND Home return completeOUT4 TLR Torque limitedOUT5 *ALM Controller alarm statusOUT6 *EMGS Emergency stop statusOUT7 RMDS Operation mode statusI/O power supply +24 VDi erential pulses are input from the host. Up to 200 kpps can be input.The servo is ON while this signal is ON, and OFF while the signal is OFF.Present alarms are reset when this signal is turned ON.Home return operation is performed when this signal is turned ON.When this signal is turned ON, the motor torque is limited to the value set by the parameter.The actuator is forcibly stopped when this signal has remained ON for 16 ms or more.The actuator decelerates to a stop at the torque set in the controller and the servo turns OFF.This signal clears the deviation counter. The brake is forcibly released.The operation mode can be switched when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, and to MANU when the signal is ON.)Not usedNot usedNot usedNot usedNot usedNot usedNot usedNot usedThis signal turns ON when the controller becomes ready after the main power has been turned on.This signal turns ON when the servo is ON.This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the in-position band.This signal turns ON upon completion of home return.This signal turns ON upon reaching the torque limit while the torque is limited.This signal turns ON when the controller is normal, and turns OFF when an alarm generates.This signal turns ON when the emergency stop of the controller is cancelled, and turns OFF when an emergency stop is actuated.The operation mode status is output. This signal turns ON when the controller is in the manual mode.An alarm code is output when an alarm generates. For details, refer to the operation manual.This signal is output when a message-level alarm generates. Not usedThis signal turns ON when the current position of the actuator falls within the parameter-set range.I/O power supply 0 V2A 24V P24 Power supply I/O power supply +24 VOUT8 ALM1OUT9 ALM2OUT10 ALM4OUT11 ALM8Alarm code output signalOUT12 *ALML Minor failure alarmOUT13 NC —OUT14 ZONE1 Zone signal 1OUT15 ZONE2 Zone signal 217B Pulse NP Di erential pulse-train input (+) Di erential pulses are input from the host. 18B input /NP Di erential pulse-train input (-) Up to 200 kpps can be input.19B 0V N Power supply I/O power supply 0 V20B 0V NPower supplyNote) * indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output.(Note) The number of encoder pulses is 800 with all RCP4 series models. For details, refer to the operation manual.46