Delta ASDA-A3 Series User Manual page 171

Wiring
See the following table for the default DO signal of each control mode:
3
DO
1
2
3
4
DO
1
2
3
4
Note: description of each DO signal.
DO
SRDY
ZSPD
3-90
PT PR
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
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
0x05 -
TPOS -
0x07 0x07
ALRM ALRM
Description DO
Servo ready HOME
Zero motor speed TPOS
Control mode
S / Sz T / Tz
Default Default Default
Signal Signal
0x01 0x01
SRDY SRDY
0x03 0x03
ZSPD ZSPD
0x04 0x04
TSPD TSPD
0x07 0x07
ALRM ALRM
Control mode
Communication PT-PR
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
- 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
0x05 0x05
TPOS TPOS
0x07 0x07
ALRM ALRM
PT-PR-S PT-PR-T
Default Default
Signal Signal
0x01 0x01
SRDY SRDY
0x09 0x09
HOME HOME
0x05 0x05
TPOS TPOS
0x07 0x07
ALRM ALRM
DO Description
TSPD Target speed reached
ALRM Servo alarm
ASDA-A3
PR-S
Signal
0x01
SRDY
0x03
ZSPD
0x05
TPOS
0x07
ALRM