Delta ASD-A2 Series User Manual page 87

Chapter 3 Wiring
Table 3.2 Default Value of DO Output Function
DO
Symbol
Code
0x01 Servo is ready
SRDY
0x02 Servo is On.
SON
0x03 Zero-speed reached
ZSPD
Reach the target
TSPD 0x04
speed
Reach the target
TPOS 0x05
position
0x06 Torque limit
TQL
0x07 Servo alarm
ALRM
0x08 Brake
BRKR
0x09 Homing complete
HOME
Early warning for
OLW 0x10
overload
0x11 Servo warning
WARN
Position command
OVF 0x12
/feedback overflows
SNL Reverse software limit
0x13
(SCWL)
SPL Forward software limit
0x14
(SCCWL)
Internal position
Cmd_OK 0x15 command is
completed
Capture procedure is
CAP_OK 0x16
completed
Servo procedure is
MC_OK 0x17
completed
Master position area
CAM_AREA 0x18
of E-CAM
0x19 Target speed reached
SP_OK
Output the status of
SDO_0 0x30
bit00 of P4-06
Output the status of
SDO_1 0x31
bit01 of P4-06
Output the status of
SDO_2 0x32
bit02 of P4-06
Output the status of
SDO_3 0x33
bit03 of P4-06
Output the status of
SDO_4 0x34
bit04 of P4-06
3-40
Output Function PT PR
DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
DO4 DO4
DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
DO3 DO3
PT-
S T Sz Tz
DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
DO4 DO4 DO4 DO4 DO4
DO4 DO4 DO4 DO4
ASDA-A2
PT- PR- PR-
S-T
S T S T
Revision February, 2017