Delta ASDA-A3 Series User Manual page 170

ASDA-A3
PR-T
DI
Default
Signal
0x01
1
SON
0x08
2
CTRG
0x11
3
POS0
0x12
4
POS1
0x16
5
TCM0
0x20
6
T-P
0x21
7
EMGS
Note:
1. Refer to the C7 and C8 diagrams in Section 3.4.2.3 for wiring.
2. Description of each DI signal:
DI
SON Servo activated
CCLR Pulse clear
Internal position
CTRG
command triggered
TRQLM Torque limit
SPDLM Speed limit
Switch between S and
S-P P modes
(dual / multi-mode)
Switch between PT
PT-PR and PR modes
(dual / multi-mode)
S-T Communication
Default
Signal
0x01
SON
-
-
0x14
SPD0
0x15
SPD1
0x16
TCM0
0x19
S-T
0x21
EMGS
Description DI
NL
ARST
TCM0
SPD0
POS0
T-P
POS2
Control mode
PT-PR
Default Default
Signal Signal
- 0x01
- SON
- 0x04
- CCLR
- 0x08
- CTRG
0x24 0x11
ORGP POS0
0x22 0x12
NL POS1
0x23 0x24
PL ORGP
0x21 0x2B
EMGS PT-PR
Description
Negative limit
Alarm reset
Torque command 0
Speed selection 0
Internal position selection 0
Switch between T and P
modes (dual / multi-mode)
Internal position selection 2
PT-PR-S PT-PR-T
Default Default
Signal Signal
0x01 0x01
SON SON
0x04 0x04
CCLR CCLR
0x08 0x08
CTRG CTRG
0x11 0x11
POS0 POS0
0x24 0x24
ORGP ORGP
0x18 0x20
S-P T-P
0x2B 0x2B
PT-PR PT-PR
DI Description
PL Positive limit
EMGS Emergency stop
TCM1 Torque command 1
SPD1 Speed selection 1
POS1 Internal position selection 1
Switch between S and T
S-T
modes (dual / multi-mode)
ORGP ORG signal
Wiring
3
3-89