PEND is the position reached signal output function. When the drive receives a motion command and controls the motor to accurately reach the specified target position, with the position deviation reduced to within the preset allowable range, the processor inside the drive activates this signal and informs the master control system that the positioning operation has been completed.
The master control system will only send the next position command after receiving the PEND signal, preventing command stacking or motion interruptions.
Taking the CL86T-V41 as an example, the following explains how to correctly set up and trigger the PEND function:
DIP Switch Setting
As shown above, before using PEND, switch SW8 from Brake (BRK) to PEND. Since brakes are used in most applications, the default setting is the brake function.
Software Logic Level Setting
As shown below, because the default logic level is low impedance, the port continuously outputs a signal and does not switch between "ON" and "OFF" based on encoder feedback. Therefore, you need to manually change PA4.00 from the default value of 1 to 0.
After making the change, remember to "Download/Apply" the setting first, and then "Save" it.
After completing the settings, you can connect a 24 V relay between PEND+ and PEND-. Change the value of PA4.00, and if the relay indicator changes accordingly, the setting has been successfully completed.
Note: This function is only available on closed-loop drives. If the drive is operating in open-loop mode, it will not receive encoder feedback, so the PEND function will not work and no PEND signal will be output.