Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 411
Programming via Drive Parameters Chapter 15
0x04 TSPD
Target Speed Reached
When the motor speed is faster than the target speed setting ID146 (P1.039) UpToSpeedLimit, this DO
is on.
Level triggered All
0x05 TPOS
Target Position Reached
When the deviation pulse number is smaller than the position range setting value of ID159 (P1.054)
InPositionWindow, this DO is on.
Level triggered
PT, PR, I/O
(Position, Gear)
0x06 TQL
Torque Limit
When it is in torque limit, this DO is on.
Level triggered
All (Except for T
and Tz)
0x07 ALRM
Servo Warning
When an fault occurs, this DO is on. (Except for forward / reverse limit, communication error,
undervoltage, and fan error.)
Level triggered All
0x08 BRKR
Brake Control
When the signal of magnetic brake control is outputted, adjust the settings of ID149 (P1.042)
BrakeOnDelay and ID150 (P1.043) BrakeOffDelay.
See Motor Brake Circuit
on page 58.
Level triggered All
0x09 HOME
Homing Completed
When homing is completed, it means the position coordinate system and position counter are defined
and this DO is on. When applying to power, this DO is off; when homing is completed, this DO is on.
During operation, this DO is on until the position counter overflows (including command or feedback).
Then, this DO turns off. When homing command is triggered, this DO is off; after homing is completed,
this DO is on.
Level triggered PR
0x0D ABSW
Absolute Type System Error
When there are faults regarding the absolute encoder, this DO is on.
Level triggered All
0x0E IDXD
Definition of Index Coordinates
Indexing coordinate is defined. When homing is completed, indexing coordinate is defined as well.
—PR
0x10 OLW
Early Warning for Overload
This DO is on when the overload level setting is reached.
t
OL
= Overload allowable time of the servo x Setting of overload warning level ID161 (P1.056)
OverloadWarningUserThreshold. When the overload accumulative time exceeds t
OL
, it will output
overload pre-warning (OLW). However, if the overload accumulative time exceeds the overload
allowable time of the servo, it will output overload error (ALRM).
For example: The setting value of overload pre-warning is 60%. ID161 (P1.056)
OverloadWarningUserThreshold= 60.
When the output average load of the servo drive is 200% and the output-time exceeds 8 seconds, the
overload fault A 006 Motor overload will occur.
t
OL
= Duration of the output average load of the servo is 200% x Parameter setting of overload
warning level = 8 sec x 60% = 4.8 sec
Result: When the output average load of the servo drive is 200% for over t
OL
= 4.8 seconds, this
overload warning DO is on (DO code is set to 10). If the duration exceeds 8 seconds, then the overload
fault A 006 Motor overload occurs and will output overload error (ALRM).
Level triggered All
Table 125 - Digital Outputs (Continued)
Setting DO Name DO Description Triggering Method Control Mode
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