Delta ASD-B2-0121-B, User Manual

Page: 61 / 313

Chapter 3 Connections and Wiring
3-24
Revision June 2010
Table 3.F Default DI signals and Control modes
Signal
DI
Code
Function PT S T Sz Tz PT-S PT-T S-T
SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST 02 Reset DI5 DI5 DI5 DI5 DI5
GAINUP 03
Gain switching in
speed and position
mode
CCLR 04 Pulse clear DI2 DI2 DI2
ZCLAMP 05 Low speed CLAMP
CMDINV 06
Command input
reverse control
Reserved 07 Reserved
Reserved 08 Reserved
TRQLM 09 Torque limit enabled DI2 DI2
SPDLM 10 Speed limit enabled DI2 DI2
STOP 46 Motor stop
SPD0 14
Speed command
selection 0
DI3 DI3 DI3 DI3
SPD1 15
Speed command
selection 1
DI4 DI4 DI4 DI4
TCM0 16
Torque command
selection 0
DI3 DI3 DI3 DI3 DI5
TCM1 17
Torque command
selection 1
DI4 DI4 DI4 DI4 DI6
S-P 18
Position / Speed
mode switching (OFF:
Speed, ON: Position)
DI7
S-T 19
Speed / Torque mode
switching (OFF:
Speed, ON: Torque)
DI7
T-P 20
Torque / Position
mode switching (OFF:
Torque, ON: Position)
DI7
Reserved 2C Reserved
Reserved 2D Reserved
EMGS 21 Emergency stop DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
NL(CWL) 22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6
PL(CCWL) 23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7
Reserved 24 Reserved
TLLM 25
Reverse operation
torque limit