24
Input Signal Function Description
Set
value
Name
Function
Describe
Trigger
mode
Running
mode
OFF- Stop input running
instruction
19
TDIR-SEL
Torque command
direction
selection
OFF-Default function
ON- Instruction Reverse
Level
triggered
T
20
GNUM0
Electronic gear
ratio numerator
selection 0
GNUM1 GNM0
code
0
0
P1-27
0
1
P1-29
1
0
P1-30
1
1
P1-31
Level
triggered
P
21
GNUM1
Electronic gear
ratio numerator
select 1
Level
triggered
P
22
ORGP
External detector
input
Up eage
：
external detector
valid
Down eage
：
external detector
invalid
Edge
triggered
P S T
23
SHOM
Origin return
function
ON
：
Origin return function
enable
Level
triggered
P S T
24-99 Not used
4.4.4 Digital Output (DO) function definition table
Input Signal Function Description
Set value Set value
Set value
Set value
Set value
0
Disable Terminal is invalid
1
S-RDY+-
Servo ready
Valid - servo ready
，
can receive S-ON
instruction
Invalid - Servo not ready
，
cannot receive
S-ON instruction
P S T
2
BK+-
Brake control
Valid - Release holding brake
Invalid - Closed holding brake
P S T
3
TGON+- Motor rotation
Valid - The motor is rotating
Invalid - The motor stop rotating
P S T
4
ZER0+-
Motor zero
speed
Valid - Motor speed is zero
Invalid - Motor speed is not zero
P S T
5
V-CLS+-
Speed
approaching
Valid
：
when works in speed control, the
absolute value of the difference between the
actual motor speed and the speed command is
less than the value as P1-42 set.
S
6
V-CMP+- Speed arrival
Valid
：
when works in speed control mode, the
absolute value of the difference between the
actual motor speed and the speed command is
less than the value as P1-43 set.
S
7
PNEAR+-
Position
approaching
Valid
：
when works in position control mode,
the position deviation pulse number is less
than positioned close approaching width as
P1-32 set.
P
8
COIN+- Position arrival
Valid
：
when works in position control mode,
the position deviation pulse number is less
than positioned close approaching width as
P1-33 set.
P
9
C-LT+-
Torque limit
signal
Valid - Motor torque is limited
Invalid - Motor torque is not limited
P S
10
V-LT+-
Speed limit
signal
Valid - Motor speed is limited
Invalid - Motor speed is not limited
T
11
WARN+- Warning output Valid
：
Warning things occur
P S T
12
ALM+-
Fault output Valid
：
Fault event occur
P S T
13
Tcmp+-
Torque arrival
signal
Valid
：
Motor output torque reaches the set
value
Invalid
：
Motor output torque does not reach
the set value
T