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Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm has
generated.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF
status of this signal.
For details of alarms, refer to 10, “Troubleshooting.”
Emergency stop (*EMGS)
This signal is enabled on a “built-in cutoff relay” controller.
The *EMGS signal remains ON in normal conditions of use, and turns OFF when the emergency-stop
switch has been pressed.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF
status of this signal.
(Reference) Output Signal Changes in Each Mode
Mode classification MOVE PEND SRDY HEND PM1-PM8
Actuator is stopped with the servo ON after the power was
input
OFF ON ON OFF OFF
Home return is in progress following an input of the home
return signal
ON OFF ON OFF OFF
Home return has completed following an input of the home
return signal
OFF ON ON ON OFF
Actuator is moving in the positioning/push & hold mode ON OFF ON ON OFF
Actuator is paused in the positioning/push & hold mode OFF OFF ON ON OFF
Positioning has completed in the positioning mode OFF ON ON ON ON
Actuator has stopped after contacting the load in the push &
hold mode
OFF ON ON ON ON
Actuator has stopped after missing the load (no load) in the
push & hold mode
OFF OFF ON ON ON
Actuator is stopped with the servo ON in the teaching mode OFF ON ON
Actuator is jogging in the teaching mode ON ON ON
Actuator is being moved by hand with the servo OFF in the
teaching mode
OFF
OFF ON
Servo is OFF after home return OFF OFF OFF ON OFF
Emergency stop has been actuated after home return OFF OFF OFF ON
(Note) Determine whether the actuator has stopped after contacting the load or missing the load from
the signal statuses of MOVE, PEND and PM1 to PM8.
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