Signal Functions
The table below describes the function of each PG board signal.
Direction
| Signal Name | Function | Description |
|---|---|---|
| +COM | +COMMON for CWP and CCWP | Outputs the +5V power source for the CWP and CCWP signals. |
| +DRSTCOM | +COMMON for DRST | Outputs +5V for DRST signal |
CWP CWP | Outputs CW pulses | Generates the pulse train for the CW direction when the Pulse Output parameter is set to CW/CCW. Generates the pulse train when the Pulse Output parameter is set to Pulse / Direction. |
CCWP CCWP | Outputs CCW pulses | Generates the pulse train for the CCW direction when the Pulse Output parameter is set to CW/CCW. Generates the direction signal when the Pulse Output parameter is set to Pulse / Direction (clockwise when the (CCWPis low). |
| DRST | Drive reset signal | Outputs a signal to reset the drive's deviation counter. If the pulse output is put into a rapid stop, the DRST signal = Low is output for 10 ms. Must be disconnected when a stepper motor is used. |
| SVON | Servo ON signal | Outputs the servo ON signal when connecting the PG board to the servo drive. Must be left disconnected when a stepper motor is used. The signal is OFF when controller is launched. It turns OFF automatically when any one of the joints within a manipulator indicates either a servo error or limit switch related errors. |
Direction
| Signal Name | Function | Description |
|---|---|---|
| CWLM | CW (clockwise) Limit signal | Connect to normally closed CW Limit switch. This signal is accepted only when clockwise (CW) pulses are generated. When this signal is detected, the pulse generation will be stopped either gradually or immediately according to the software setting. |
| CCWLM | CCW (counter-clockwise) Limit signal | Connect to normally closed CCW Limit switch. This signal is accepted only when counter-clockwise (CCW) pulses are generated. When this signal is detected, the pulse generation will be stopped either gradually or immediately according to the software setting. |
| NORG | Near-to-Origin signal | Connect to either a photo or magnetic normally open sensor to detect the proximity of the target origin. Ensure that the proximity sensor is always used with an origin sensor (either ORG or Z-Phase). If a mechanical switch is used, you may need to connect a capacitor in parallel with the switch (0.1μf 50V recommended). |
| ORG | Origin signal | If the motor encoder Z-Phase signal will not be used, connect either a photo or magnetic normally open sensor to detect the target origin. Leave the ZORG terminal unconnected. The accuracy of calibration or positioning can be increased and the calibration time can be shortened by using the origin sensor with a proximity sensor (NORG). If a mechanical switch is used, you may need to connect a capacitor in parallel with the switch (0.1μf 50V recommended). |
+ZORG -ZORG | Encoder Phase -Z signal | Use this terminal if the motor encoder’s Z-Phase is used as an origin sensor. Leave the ORG terminal unconnected. |
| DEND | Detection (calibration) end signal | Connect to the signal from the drive that indicates that positioning is complete. Must be disconnected when a stepper motor is used. |
| ALM | Alarm signal | Connect the alarm signal from the drive. Generation of pulses will be stopped gradually or immediately when this signal is detected. The alarm logic and the stop mode are defined in the software. |
KEY POINTS
For DEND input, when a servo motor is used, the position complete signal from the drive must be connected. After a MOVE command is executed, SPEL waits until the DEND input is activated. When the DEND input is not activated even after waiting for a time specified by a FINE command, a message "Error 4004: Event waiting error with the Motion Control Module." appears. In case of this error, it is necessary to exit controller, stop the SPEL Runtime Drivers, then restart controller.
When it is expected that your servo drive does not have an output equivalent to the positioning completion signal, or that the DEND input is not activated, the DEND input must be connected to GND. In this case, SPEL does not check that the servo drive's positioning is completed. Therefore, after the operation command is executed, use the time delay necessary for positioning to be complete in your application.