IAI PCON-CB series User Manual

4. Operation
4.3 Pulse Train Control Mode
4-118 ME0342-4B
[2] Position Complete (INP)
PIO signal
Output
INP
This signal will turn ON when the remaining travel pulses (accumulated pulses) on the deviation
counter enters the positioning width.
When the servo is ON, this signal turns ON when the accumulated pulses on the deviation
counter are within the number of pulses set in Parameter No.10 “Default positioning width”.
This signal is OFF while the servo is OFF.
Caution
● This signal will turn ON when the servo turns ON (because positioning is executed at
the current position where the servo is ON).
● This signal turns on in response to the deviation (servo lag pulses) and the variance to
the command pulse in 1ms.
Even if the deviation is within the positioning width, the signal would not turn on if there
is a variance to the command pulse in 1ms.
[3] Torque Limit Select (TL, TLR)
PIO signal
Input
Output
TL
TLR
This signal is used to limit the torque of the motor.
While the TL signal is ON, the actuator thrust (motor torque) can be limited to the torque set in
Parameter No.57 “Torque limit”.
With the TL signal being ON, the TLR signal (torque limiting) will turn ON when the actuator
thrust reaches the torque limit.
The TL signal is disabled during home return or forced stop.
Caution
● Do not turn the TL signal OFF while the TLR signal is ON.
● An excessive deviation (accumulated pulses) may generate while torque is being limited
(TL signal is ON) (for example, the actuator may receive a load just like it receive a
pressing force in pressing operation and therefore become no longer operable). If the
TL signal is turned OFF in this condition, actuator control will start at the maximum
torque the moment the signal changes, thus causing the actuator to move suddenly or
run uncontrollably.
After turning TLR signal ON, perform an operation in the reversed way to confirm TLR
signal turns OFF. If the condition is difficult for the reversed movement, turn the servo
OFF or clear the deviation counter (by turning DCLR ON).

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English