414 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 15 Programming via Drive Parameters
DO.SP_OK (Digital Output: speed reached output)
When the error between the speed command and the motor feedback speed is
less than this parameter, the digital output DO.SP_OK (DO code 0x19) is on.
Diagram:
1. Speed command: Command inputted by the user (without acceleration /
deceleration), not the command from the front end speed circuit. Its
source is from the register.
0x3C SPO_C Output Bit 12 of ID283 (P4.006) DOOverride Level triggered All
0x3D SPO_D Output Bit 13 of ID283 (P4.006) DOOverride Level triggered All
0x3E SPO_E Output Bit 14 of ID283 (P4.006) DOOverride Level triggered All
0x3F SPO_F Output Bit 15 of ID283 (P4.006) DOOverride Level triggered All
ABSR
always
outputted
by DO2
ABSR
ABSR Always Output by DO2 Setting Value
When the DI.ABSE signal is on, the DO.ABSR signal triggered by DO2 replaces the DO2 assigned by
ID204 (P2.019) DO2Configuration. When the DI.ABSE signal is on, the DO.ABSD signal triggered by DO3
will replace the DO3 assigned by ID205 (P2.020) DO3Configuration. When the DO.ABSR signal is off, it
indicates the servo drive can receive request issued by the DI.ABSQ signal; when the DO.ABSR signal is
on, it indicates after receiving the request, the data has been prepared and the ABSD signal data is valid
so that the controller can access the ABSD signal data. This output is only valid when the DI.ABSE signal
is on.
See Reading the absolute position with DI/DO
on page 397 for additional information.
Level triggered All
ABSD
always
outputted
by DO3
ABSD
ABSD Always Output by DO3 Setting Value
When the DI.ABSE signal is on, the DO.ABSD signal triggered by DO3 replaces the DO3 assigned by
ID205 (P2.020) DO3Configuration. The data is valid when the DO.ABSR signal is on. This output is only
valid when the DI.ABSE signal is on.
See Reading the absolute position with DI/DO
on page 397 for additional information.
Level triggered All
Table 125 - Digital Outputs (Continued)
Setting DO Name DO Description Triggering Method Control Mode
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