416 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 15 Programming via Drive Parameters
2. DO.CMD_OK: Command 3 is completely outputted and can set the
delay time (DLY).
3. Command output: Output the profile of position command according to
the setting of acceleration / deceleration.
4. DO.TPOS: Position error of the servo drive is within the range set by
ID159 (P1.054) InPositionWindow.
5. DO.MC_OK: Position command output and servo positioning
completed which is DO.CMD_OK and DO.TPOS are both on.
6. DO.MC_OK (remains digital output status): Same as 5.
However, after this DO is on, its status will hold regardless of the signal 4
status.
7. Can only select one of the signal 5 or signal 6 to output and it is specified
by ID155 (P1.048.X) ToSpeedAction.
8. Position deviation: When number 7 happens, if signal 4 (or 5) is off, it
means the position is deviated and A 380 Position deviation fault of
DO:MC_OK can be triggered. This fault may be set via
ID155 (P1.048.Y) ToSpeedAction.
DO.Zon_1 (Digital Output: system variable in range)
When the value of the item monitored by ID663 (P0.009)
SystemVariableMonitor1Value ranges between the setting value of ID113
(P0.054) ParameterMonitorLowerLimit and ID114 (P0.055)
ParameterMonitorUpperLimit, and after the time set by ID112(P0.053).X, then
DO.Zon_1[0x2C is on.
Table 126 - Relevant Parameters
Parameter Name
ID112 (P0.053) SystemVariableMonitorFilterTime
ID113 (P0.054) SystemVariableMonitorLimit
ID114 (P0.055) SystemVariableMonitorUpperLimit
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