Physical I/O - Leadshine iSV2-RS Series User Manual

7.4.2 Physical I/O

Path motion, feedback status, etc can be triggered through I/O in PR mode. Please refer to the
table below for I/O assignments in PR mode.
Label
Command trigger
Homing
Forced emergency stop
Positive JOG
Negative JOG
Positive position limit
Negative position limit
Origin
Path address 0
Path address 1
Path address 2
Path address 3
Torque switching
S-code
S-code（Status code）is the S-code of currently operating PR positioning data.
Every PR path has a S-code setting.
S-code Sx.H
Bit 15
Description S-code valid when completed.
0: Invalid, retain previous value
1: Valid
Input
Signal Value
NO NC
CTRG 20h A0h
HOME 21h A1h
STP 22h A2h
PJOG 23h A3h
NJOG 24h A4h
PL 25h A5h
NL 26h A6h
ORG 27h A7h
ADD0 28h A8h
ADD1 29h A9h
ADD2 2ah Aah
ADD3 2bh Abh
TC-SEL 09h 89h
User Manual of iSV2-RS Integrated Servo
Output
Label
Command completed
Path completed
Homing completed
S-code 0
S-code 1
S-code 2
S-code 3
S-code 4
S-code 5
S-code 6
PR warning
Sx.L
8-14 7
S-code upon S-code valid
completion upon activation
0: Invalid
1: Valid
Signal Value
NO NC
CMD_OK 20h A0h
PR_OK 21h A1h
HOME_OK 22h A2h
SD0 23h A3h
SD1 24h A4h
SD2 25h A5h
SD3 26h A6h
SD4 27h A7h
SD5 28h A8h
SD6 29h A9h
PRWAR 2Ah AAh
0-6
S-code upon
activation
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