User`s manual

5-1
5
Functions
5. Functions
5.1 Terminal function list
Type
Terminal
symbol
Terminal name Function
Contact
point
input
signal
P24 Interface power
Supplies 24V DC for contact inputs. Connecting this
signal to the PLC terminal allows using the internal
power supply. Use this terminal only for contact
input. Do not use for controlling external equipment
connected to the robot driver, such as brakes.
CM1
Interface power
common
This is a ground signal for the power supply
connected to P24. If using the internal power supply
then input a contact signal between this signal and
the contact-point signal.
PLC
Intelligent input
common
Connect this signal to the power supply common
contact input. Connect an external supply or internal
power supply (P24).
SON Servo ON
Setting this signal to ON turns the servo on (supplies
power to motor to control it). This signal is also used
for estimating magnetic pole position when FA-90 is
set to oFF2.
RS Alarm reset
After an alarm has tripped, inputting this signal
cancels the alarm. But before inputting this reset
signal, first set the SON terminal to OFF and
eliminate the cause of the trouble.
TL Torque limit When this signal is ON, the torque limit is enabled.
FOT
Forward
overtravel
When this signal is OFF, the robot will not run in
forward direction.
(Forward direction limit signal)
ROT
Reverse
overtravel
When this signal is OFF, the robot will not run in
reverse direction.
(Reverse direction limit signal)
ORL Origin sensor
Input an origin limit switch signal showing the origin
area.
ORG Return-to-origin Inputting this signal starts return-to-origin operation.
PEN
Pulse train input
enable
When this signal is turned on, the pulse train position
command input is enabled.
CER
Position error
counter clear
Inputting this signal clears the position deviation
(position error) counter. (Position command value is
viewed as current position.)
Analog
common
L Analog common This is the ground for the analog signal.
Contact
point
output
signal
SRD
SRDE
Servo ready
This signal is output when the servo is ready to turn
on (with main power supply turned on and no alarms
tripped.)
ALM
ALME
Alarm
An alarm signal is output when an alarm has tripped.
(This signal is ON in normal state and OFF if an
alarm has tripped.)
INP
INPE
Positioning
complete
This signal is output when the deviation between the
command position and current position is within the
preset positioning range.