Delta ASDA-A3 Series User Manual page 153

Wiring
See the following table for the default DO signal of each control mode:
3
DO
1
2
3
4
5
6
DO
1
2
3
4
5
6
Note: description of each DO signal.
DO
SRDY
ZSPD
BRKR
3-72
PT PR
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
0x03 0x03
ZSPD ZSPD
0x09 0x09
HOME HOME
0x05 0x05
TPOS TPOS
0x07 0x07
ALRM ALRM
- -
PR-T S-T
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
0x03 0x03
ZSPD ZSPD
0x04 0x04
TSPD TSPD
0x05 -
TPOS -
0x07 0x07
ALRM ALRM
- -
Description DO
Servo ready HOME
Zero motor speed TPOS
Magnetic brake -
Control mode
S / Sz T / Tz
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
0x03 0x03
ZSPD ZSPD
0x04 0x04
TSPD TSPD
0x08 0x08
BRKR BRKR
0x07 0x07
ALRM ALRM
- -
Control mode
CANopen PT-PR
Default Default
Signal Signal
- 0x01
- SRDY
- 0x03
- ZSPD
- 0x09
- HOME
- 0x05
- TPOS
0x07 0x07
ALRM ALRM
- -
Description
Homing is complete
Target position reached
-
PT-S PT-T
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
0x03 0x03
ZSPD ZSPD
0x04 0x04
TSPD TSPD
0x05 0x05
TPOS TPOS
0x07 0x07
ALRM ALRM
- -
PT-PR-S PT-PR-T
Default Default
Signal Signal
0x01
SRDY SRDY
0x03
ZSPD ZSPD
0x09
HOME HOME
0x05
TPOS TPOS
0x07
ALRM ALRM
-
DO Description
TSPD Target speed reached
ALRM Servo alarm
- -
ASDA-A3
PR-S
Default
Signal
0x01
SRDY
0x03
ZSPD
0x04
TSPD
0x05
TPOS
0x07
ALRM
-
0x01
0x03
0x09
0x05
0x07
-