IAI America PDR-101-MW - Manual (Page 41)

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z
Do not turn the TL signal off while the TLR signal is turned on.
z While the torque is being limited (the TL signal is turned on), excessive deviation (standing pulse)
may be generated (if the actuator cannot operate due to applied load, for instance in the push status).
If the TL signal is turned off in this status, control at the maximum torque is immediately started and
the actuator may operate suddenly or go out of control. After turning the TL signal on (after the push
operation is completed, etc.), make sure to move the actuator to the opposite direction and check that
the TLR signal is turned off. Turn the servo off if moving in the opposite direction is impossible.
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Related parameters
It is possible to disable the TL signal using the PIO function setting flag, an external interface parameter.
Disable the TL signal if it is not used.
5.1.5 Forced Stop Signal (CSTP)
This signal forcibly stops the actuator.
„
Function
Make sure to input the CSTP signal continuously for 10 ms or more. When the actuator receives the
CSTP signal, it decelerates to a stop at the forced stopping torque and the servo is turned off. At this
point, the function (dynamic brake, electromagnetic brake or deviation counter clear) selected with the
flag for setting function at stop (an actuator parameter) is activated.
See 5.1.1, “Servo ON Signal (SON),” for handling and status of servo off.
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Related parameters
The CSTP signal can be disabled with the PIO function setting flag, an external interface parameter, but
do not use this setting.
The CSTP signal is used to urgently stop the actuator at emergency stop.
See 4.3 (2), “Emergency Stop,” for emergency stop handling.
5.1.6 Command Pulse Inputs (PP, /PP, NP, /NP)
These signals are pulse-train inputs for positioning commands.
„
Function
It is possible to input pulse-trains of up to 200 kpps in open-collector mode and 500 kpps in differential
receiver mode.
The command pulse mode can be chosen from 90-degree phase shifted signal (phases A/B, in
quadrature), pulse-train + forward/reverse signal, and forward/reverse pulse, and the input logic mode
can be selected from positive logic and negative logic for each of the above.
Caution