Delta ASD-A2-5523 Series - Page 87

Chapter 3 Wiring ASDA-A2
3-40 Revision February, 2017
Table 3.2 Default Value of DO Output Function
Symbol
DO
Code
Output Function PT PR S T Sz Tz
PT-
S
PT-
T
PR-
S
PR-
T
S-T
SRDY 0x01
Servo is ready
DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
SON 0x02
Servo is On.
ZSPD 0x03
Zero-speed reached
DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
TSPD 0x04
Reach the target
speed
DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
TPOS 0x05
Reach the target
position
DO4 DO4 DO4 DO4 DO4 DO4 DO4
TQL 0x06
Torque limit
ALRM 0x07
Servo alarm
DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
BRKR 0x08
Brake
DO4 DO4 DO4 DO4
HOME 0x09
Homing complete
DO3 DO3
OLW 0x10
Early warning for
overload
WARN 0x11
Servo warning
OVF 0x12
Position command
/feedback overflows
SNL
(SCWL)
0x13
Reverse software limit
SPL
(SCCWL)
0x14
Forward software limit
Cmd_OK 0x15
Internal position
command is
completed
CAP_OK 0x16
Capture procedure is
completed
MC_OK 0x17
Servo procedure is
completed
CAM_AREA 0x18
Master position area
of E-CAM
SP_OK 0x19
Target speed reached
SDO_0 0x30
Output the status of
bit00 of P4-06
SDO_1 0x31
Output the status of
bit01 of P4-06
SDO_2 0x32
Output the status of
bit02 of P4-06
SDO_3 0x33
Output the status of
bit03 of P4-06
SDO_4 0x34
Output the status of
bit04 of P4-06