5. I/O Signal Control and Signal Functions ........................................... 36
5.1 PIO Patterns and Signal Assignments ....................................................................................... 36
5.1.1 Explanation of Signal Names............................................................................................... 37
5.1.2 Signal Assignment Table for Respective PIO Patterns ........................................................ 38
5.2 Interface Circuit .......................................................................................................................... 39
5.2.1 External Input Specifications................................................................................................ 39
5.2.2 External Output Specifications............................................................................................. 40
5.3 Details of I/O Signal Functions................................................................................................... 41
5.3.1. Details of Each Input Signal................................................................................................. 41
Start (CSTR) ............................................................................................................................... 41
Servo ON (SON)......................................................................................................................... 41
Alarm reset (RES) ...................................................................................................................... 41
Home return (HOME) ................................................................................................................. 42
Operation mode (MODE) ...........................................................................................................42
Current-position write (PWRT) ...................................................................................................42
Jog (JOG+, JOG-) ...................................................................................................................... 43
Pause (*STP).............................................................................................................................. 43
Command position number (PC1 to PC32)................................................................................ 43
5.3.2 Details of Each Output Signal.............................................................................................. 44
Ready (SRDY)............................................................................................................................ 44
Moving (MOVE) .......................................................................................................................... 44
Position complete (PEND).......................................................................................................... 44
Home return completion (HEND) ............................................................................................... 44
Completed position number (PM1 to PM32) .............................................................................. 45
Zone (ZONE1, ZONE2) .............................................................................................................. 45
Current operation mode (MODES)............................................................................................. 45
Write completion (WEND) .......................................................................................................... 45
Alarm (*ALM) .............................................................................................................................. 46
Emergency stop (*EMGS) ..........................................................................................................46
Output Signal Changes in Each Mode ........................................................................................... 47
6. Data Entry <Basics>.......................................................................... 47
6.1 Description of Position-Data Table ............................................................................................. 48
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value .................................. 50
6.2 Explanation of Modes................................................................................................................. 53
6.2.1 Positioning Mode ................................................................................................................. 53
6.2.2 Push & Hold Mode ............................................................................................................... 53
6.2.3 Speed Change during Movement ........................................................................................ 55
6.2.4 Operation at Different Acceleration and Deceleration Settings ........................................... 55
6.2.5 Pause ................................................................................................................................... 56
6.2.6 Zone Signal Output ..............................................................................................................57
6.2.7 Home Return........................................................................................................................ 57
6.2.8 Teaching Mode (Jogging/Teaching Using PIO) ................................................................... 58
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