Delta ASDA-A2 Series User Manual page 94

A2
ASDA-
NOTE
1) For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1.
Table 3.H Default DO signals and Control modes
DO
Signal
Code
SRDY 0x01 Servo ready
SON 0x02 Servo On
ZSPD 0x03 At Zero speed
TSPD 0x04 At Speed reached
TPOS 0x05
TQL 0x06 At Torques limit
ALRM 0x07
BRKR 0x08
HOME 0x09 Homing completed
OLW 0x10
WARN 0x11
OVF 0x12
SNL
0x13
(SCWL)
SPL
0x14
(SCCWL)
Cmd_OK 0x15
CAP_OK 0x16
MC_OK 0x17
CAM_AREA 0x18
SP_OK 0x19
SDO_0 0x30
SDO_1 0x31
Revision September 2012
Function
At Positioning
completed
Servo alarm (Servo
fault) activated
Electromagnetic
brake control
Output overload
warning
Servo warning
activated
Position command
overflow
Reverse software
limit
Forward software
limit
Internal position
command completed
output
Capture operation
completed output
Motion control
completed output
Master position of E-
CAM (electronic
CAM)
Speed reached
output
Output the status of
bit00 of P4-06.
Output the status of
bit01 of P4-06.
PT PR S T
DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
DO4 DO4
DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
DO4 DO4 DO4 DO4
DO3 DO3
Chapter 3 Connections and Wiring
Sz Tz PT-S PT-T PR-S PR-T S-T
DO4 DO4 DO4 DO4 DO4
3-43