Appendix ES2 Series Servo User Manual Lite V1.0
69
Function
code
Name
Setting range
Min.
unit
Default
setting
Effective
time
Type
Mode
P18
47
Bus
voltage
at
selected fault
-
0.1V
-
N/A
Displa
y
param
eter
PST
P18
48
Input terminal status
at selected fault
-
-
-
N/A
Displa
y
param
eter
PST
P18
49
Output
terminal
status at selected
fault
-
-
-
N/A
Displa
y
param
eter
PST
DIDO assignment basic function definition
Input signal function description
Code
Name
Function Name
Description
Status
FunIN.1
S_ON
Servo enable
Invalid - Servo motor enable disabled
Active - Servo motor power-on enable
Assign
FunIN.2
ALM_RST
Alarm reset signal
(edge
valid
function)
According to the type of alarm, the
servo can continue to work after some
alarms are reset. This function is edge
effective. When the terminal is set to
level effective, it is still only valid
when edge change is detected.
Assign
FunIN.3
GAIN_SWITCH
Proportional
motion switching /
gain switching
When P07.10=0:
Invalid - speed control loop is PI
control
Valid -speed control loop is P control
When P07.10=1:
Invalid - use the first set of gains
Valid - use the second set of gains
Assign
FunIN.4
CMD_SWITCH
Main and auxiliary
running command
switching
Invalid - the current run command is A
Valid - the current run command is B
Assign
FunIN.5
PERR_CLR
Pulse
deviation
clear
Recommend to set rising or falling edge
effective
Invalid - no action
Valid - clear pulse deviation
Assign
FunIN.6
CMD1
Multi-segment
running command
switching CMD1
16 segment command selection
Assign
FunIN.7
CMD2
Multi-segment
running command
switching CMD2
16 segment command selection
Assign
FunIN.8
CMD3
Multi-segment
running command
switching CMD3
16 segment command selection
Assign
FunIN.9
CMD4
Multi-segment
running command
switching CMD4
16 segment command selection
Assign
FunIN.10
MODE_SWITCH
Mode switching
M1-SEL
Switch between speed, position and torque
according to the selected control mode (3,
4, 5)
Assign
