User`s manual

5-7
5
Functions
5. Functions
5.3 Output terminal functions
Robot driver output terminal functions are described next.
For details on input/output terminal timing chart from the power-on to the position
command input, refer to 10.1, “Timing chart”, in Chapter 10.
SRD terminal
This signal is output when the main circuit
power is connected and no alarm has tripped.
Servo-ON signals can be accepted when this
signal is ON, but cannot be accepted if this
signal is OFF.
FC-02 : Output terminal polarity setting
Related parameters
• On the RDP, this signal is not output unless magnetic pole position estimation
ended correctly. See 5.17, "Magnetic pole position estimation action" for more
details.
• By changing the "Output terminal polarity" (FC-02) setting, this output terminal can
also be opened when the servo is ready.
ALM terminal
FC-02 : Output terminal polarity setting
Related parameters
This signal indicates that an alarm has tripped,
and can be set to "normally open" or "normally
closed" by the "Output terminal polarity
setting" (FC-02). (Default setting is "normally
closed" contact.) The table below shows the
relation between each contact specification
and alarm output. When this signal indicates
an alarm has tripped, then inputting an alarm
reset (RS) or turning the power off and then
back on cancels that alarm, and this signal
returns to its normal state.
Contact specifications Power OFF Normal state Alarm state
Normally closed OFF ON OFF
Normally open OFF OFF ON
INP terminal
This signal indicates that positioning or return-
to-origin is complete.
Fb-23 : Positioning detection range
FC-02 : Output terminal polarity setting
Related parameters
• This signal turns OFF when return-to-origin signal is input, and return-to-origin then
starts. After return-to-origin is complete, this signal turns ON when the positioning
deviation is within the range specified by "Positioning detection range" (Fb-23).
• This signal is OFF when the servo is OFF.
• By changing the "Output terminal polarity" (FC-02) setting, this output terminal can
also be opened when positioning is completed.