Delta ASDA-A3 Series User Manual page 77

Wiring
Signal
CTRG
3
TRQLM
SPDLM
S-P
See the following table for the default DO signal of each control mode:
DO
DO1
DO2
DO3
DO4
DO5
DO6
Note:
Description of each DO signal:
Signal
SRDY
ZSPD
If the default DI/DO functions cannot meet the application requirements, set the functions of DI1 -
10 and DO1 - 6 with the corresponding parameters listed in the following table. That is, you can
specify the DI/DO functions by setting DI or DO code to the corresponding parameters.
Signal
Standard
DI
Standard
DO
3-26
Description Signal
Internal position
TCM0
command triggered
Torque limit SPD0
Speed limit POS0
Switch S and P mode T-P
PT / PR / Communication
Default Signal
0x01 SRDY
0x03 ZSPD
0x09 HOME
0x05 TPOS
0x07 ALRM
- -
Description Signal
Servo ready HOME
Zero motor speed TPOS
Corresponded
Pin No.
parameter
DI1- 9
DI2- 10
DI3- 34
DI4- 8
DI5- 33
DO1+ 7
DO1- 6
DO2+ 5
DO2- 4
DO3+ 3
DO3- 2
Description
Torque command 0
Speed selection 0
Internal position selection 0
Switch T and P mode
Speed / Torque
Default
0x01
0x03
0x04
0x05
0x07
-
Description
Homing completed
Target position reached
Signal
P2.010
P2.011
Standard
P2.012
DI
P2.013
P2.014
P2.018
Standard
P2.019
DO
P2.020
Signal Description
TCM1 Torque command 1
SPD1 Speed selection 1
POS1 Internal position selection 1
- -
Wiring method
(refer to Section
Signal
SRDY
ZSPD
TSPD
TPOS
ALRM
-
Signal Description
TSPD Target speed reached
ALRM Servo alarm
Corresponded
Pin No.
parameter
DI6- 32
DI7- 31
DI8- 30
DI9- 29
DI10- 38
DO4+ 1
DO4- 26
DO5+ 28
DO5- 27
DO6+ 46
DO6- 40
ASDA-A3
3.3.5)
C5/C6
P2.015
P2.016
P2.017
P2.036
P2.037
P2.021
P2.022
P2.041