— 8-22 —
8.3.4. Output Normal: NRM
Reports that the Driver Unit is in normal condition.
When this output opens, an alarm or a warning occurs.
Table 8-23: Signal logic of the output NRM
Logic Description.
Open Occurrence of an alarm or warning.
Closed Normal
The signal timing of the alarms and warnings is the same as those of the output DRDY (Driver
Unit ready) and the output WRN (Warning). Refer to “11. Alarm and Warning” for details.
8.3.5. Home Return Completed: HOME
This output reports that Home Return operation is completed and the Motor is on the Home
position.
It can be used for the completion signal of the input HOS (Home Return start).
Table 8-24: Signal logic of the HOME output
Logic Description
Open
Home Return unfinished or the commanded position is not
the Home position.
Closed
Home Return is completed and the current commanded
position is the Home position.
The completion of Home Return operation reports the following.
• Definition of the Home position of the position scale system
• Completion of Home Return operation to the Home position
• The current commanded position is zero (0: Home position).
◊ The commanded position is denotes the sum of the current position and the position
error.
When the commanded position becomes other than 0 (zero), this output opens and does not close
until the completion of next Home Return operation.
Refer to “8.8. Home Return” for the signal timing of the output HOME.
8.3.6. Home Position Defined: HCMP
This output reports that the Home position of position scale is defined.
Table 8-25: Signal logic of the outputt HCMP
Logic Description
Open Home position undefined
Close Home position defined
The following alarms make the Home position undefined.
◊ Also, interruption of Home Return operation makes the Home position undefined.
Table 8-26: Alarm that makes the Home position undefined
7 segments LED Command TA (Tell alarm) Description Motor condition
A0 A0>Position Sensor Error Error in the position sensor
A1 A1>Absolute Position Error Error in absolute position data
A4 A4>Over Speed Excessive velocity
Servo off
Refer to “8.8. Home Return” for the signal timing of the output HCMP.
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