Delta ASDA-A3 Series, Руководство пользователя

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Wiring ASDA-A3
3-26
3
Signal Description Signal Description Signal Description
CTRG
Internal position
command triggered
TCM0 Torque command 0 TCM1 Torque command 1
TRQLM Torque limit SPD0 Speed selection 0 SPD1 Speed selection 1
SPDLM Speed limit POS0 Internal position selection 0 POS1 Internal position selection 1
S-P Switch S and P mode T-P Switch T and P mode
- -
See the following table for the default DO signal of each control mode:
DO
PT / PR / Communication Speed / Torque
Wiring method
(refer to Section
3.3.5)
Default Signal Default Signal
DO1 0x01 SRDY 0x01 SRDY
C5/C6
DO2 0x03 ZSPD 0x03 ZSPD
DO3 0x09 HOME 0x04 TSPD
DO4 0x05 TPOS 0x05 TPOS
DO5 0x07 ALRM 0x07 ALRM
DO6
- - - -
Note:
Description of each DO signal:
Signal Description Signal Description Signal Description
SRDY Servo ready HOME Homing completed TSPD Target speed reached
ZSPD Zero motor speed TPOS Target position reached ALRM Servo alarm
If the default DI/DO functions cannot meet the application requirements, set the functions of DI1 -
10 and DO1 - 6 with the corresponding parameters listed in the following table. That is, you can
specify the DI/DO functions by setting DI or DO code to the corresponding parameters.
Signal Pin No.
Corresponded
parameter
Signal Pin No.
Corresponded
parameter
Standard
DI
DI1- 9 P2.010
Standard
DI
DI6- 32 P2.015
DI2- 10 P2.011 DI7- 31 P2.016
DI3- 34 P2.012 DI8- 30 P2.017
DI4- 8 P2.013 DI9- 29 P2.036
DI5- 33 P2.014 DI10- 38 P2.037
Standard
DO
DO1+ 7
P2.018
Standard
DO
DO4+ 1
P2.021
DO1- 6 DO4- 26
DO2+ 5
P2.019
DO5+ 28
P2.022
DO2- 4 DO5- 27
DO3+ 3
P2.020
DO6+ 46
P2.041
DO3- 2 DO6- 40