Epson RC700 Manual page 21

Signal
Direction
Name
Input CWLM
CCWLM
NORG
ORG
+ZORG
-ZORG
DEND
ALM
For DEND input, when a servo motor is used, the position complete signal from the drive must be
NOTE
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.
RC700 / RC90 option PG motion system Rev.2
Function
CW (clockwise) Limit Connect to normally closed CW Limit switch.
signal
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.
CCW Connect to normally closed CCW Limit switch.
(counter-clockwise)
This signal is accepted only when counter-clockwise (CCW) pulses are
Limit signal
generated. When this signal is detected, the pulse generation will be
stopped either gradually or immediately according to the software
setting.
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).
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).
Encoder Phase -Z signal Use this terminal if the motor encoder's Z-Phase is used as an origin
sensor in which case the ORG terminal must be left disconnected.
Detection (calibration) Connect to the signal from the drive that indicates that positioning is
end signal complete. Must be left disconnected if a stepper motor is used.
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.
Description
2. Hardware
9