Page 45 - RoboCilindri, RCP5, robocilindri, sinta,

I/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 Function description number abbreviation1A 24V3A Pulse input 4A5A 6A 7A 8A9A10A 11A12A Input13A 14A 15A 16A 17A 18A 19A 20A1B 2B3B4B 5B 6B7B8B Output9B 10B 11B 12B 13B 14B 15B 16B17B Pulse input 18B20B 0VN0IN1IN2IN3IN4IN5IN6IN7IN8IN9IN10IN11IN12IN13IN14IN15OUT0OUT1OUT2OUT3OUT4OUT5OUT6OUT7P24 Power supplyPP Differential pulse-train input (+)/PP Differential pulse-train input (-)SON Servo ONRES ResetHOME Home returnTL Torque limit selectionCSTP Forced stopDCLR Deviation counter clearBKRL Forced brake releaseRMOD Operation mode switchingNC —NC —NC —NC —NC —NC —NC —NC —PWR System readySV Servo ON statusINP Positioning completeHEND Home return completeTLR Torque limited*ALM Controller alarm status*EMGS Emergency stop statusRMDS Operation mode statusI/O power supply +24 VDifferential 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.Differential pulses are input from the host. Up to 200 kpps can be input. I/O power supply 0 V2A 24V P24 Power supply I/O power supply +24 VOUT8 ALM1OUT9 ALM2OUT10 ALM4OUT11 ALM8Alarm code output signalOUT12OUT13OUT14OUT15*ALML Minor failure alarmNC —ZONE1 Zone signal 1ZONE2 Zone signal 2NP Differential pulse-train input (+)/NP Differential pulse-train input (-)N Power supply19B 0V N Power supply I/O power supply 0 V(Note) “*“ 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 RCP5 series models. For details, refer to the operation manual.44