Delta ASD-A2-0121 Series User Manual page 107

Chapter 3 Wiring
DI
Symbol
Code
GNUM0 0x43
GNUM1 0x44
INHP 0x45 Pulse input inhibit
Note: refer to section 3.4.1 for corresponding pins of DI1 ~ 8.
Table 3.2 Default Value of DO Output Function
DO
Symbol
Code
0x01 Servo is ready
SRDY
0x02 Servo is On
SON
0x03 Zero-speed reached
ZSPD
Reach the target
TSPD 0x04
speed
Reach the target
TPOS 0x05
position
0x06 Torque limit
TQL
0x07 Servo alarm
ALRM
0x08 Brake
BRKR
0x09 Homing complete
HOME
Early warning for
OLW 0x10
overload
0x11 Servo warning
WARN
Position command /
OVF 0x12
feedback overflows
SNL
0x13 Reverse software limit
(SCWL)
SPL
0x14 Forward software limit
(SCCWL)
Internal position
Cmd_OK 0x15 command is
completed
Capture procedure is
CAP_OK 0x16
completed
Servo procedure is
MC_OK 0x17
completed
3-42
Input Function
V1.008 sub04 will be
provided afterwards)
Electronic gear ratio
(numerator) selection 0
Electronic gear ratio
(numerator) selection 1
Output Function
PT PR S T
PT PR S T
DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
DO4 DO4
DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
DO4 DO4 DO4 DO4
DO3 DO3
PT- PT- PR-
Sz Tz
S T S
PT- PT- PR-
Sz Tz
S T S
DO4 DO4 DO4 DO4
ASDA-A2
PR-
S-T
T
PR-
S-T
T