Delta ASDA-A2 Series User Manual page 92

A2
ASDA-
Table 3.G Default DI signals and Control modes
DI
Signal
Code
SON 0x01 Servo On
ARST 0x02 Reset
GAINUP 0x03 Gain switching
CCLR 0x04 Pulse clear
ZCLAMP 0x05 Low speed CLAMP
CMDINV 0x06
Reserved 0x07 Reserved
CTRG 0x08 Command triggered
TRQLM 0x09 Torque limit enabled
SPDLM 0x10 Speed limit enabled
POS0 0x11
POS1 0x12
POS2 0x13
POS3 0x1A
POS4 0x1B
POS5 0x1C
STOP 0x46 Motor stop
SPD0 0x14
SPD1 0x15
TCM0 0x16
TCM1 0x17
S-P 0x18
S-T 0x19
T-P 0x20
Revision September 2012
Function
Command input
reverse control
Position command
selection 0 (1~64)
Position command
selection 1 (1~64)
Position command
selection 2 (1~64)
Position command
selection 3 (1~64)
Position command
selection 4 (1~64)
Position command
selection 5 (1~64)
Speed command
selection 0 (1~4)
Speed command
selection 1 (1~4)
Torque command
selection 0 (1~4)
Torque command
selection 1 (1~4)
Position / Speed mode
switching (OFF: Speed,
ON: Position)
Speed / Torque mode
switching (OFF: Speed,
ON: Torque)
Torque / Position
mode switching (OFF:
Torque, ON: Position)
Chapter 3 Connections and Wiring
PT PR S T Sz
DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
DI5 DI5 DI5 DI5 DI5 DI5
DI2
DI2
DI2 DI2
DI2
DI3
DI4
DI3 DI3
DI4 DI4
DI3 DI3
DI4 DI4
PT- PR-
Tz PT-S PR-S
T T
DI2 DI2
DI2 DI2
DI2
DI3 DI3
DI4 DI4
DI3 DI5
DI4 DI6
DI3 DI3 DI5 DI5
DI4 DI4 DI6 DI6
DI7 DI7
DI7 DI7
S-T
DI3
DI4
DI7
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