Leadshine ELD2-RS70 Series - Page 88

User Manual for ELD2 Servo
www.leadshine.com
88
[2]
Servo error
SRV-ERR
R
=1：valid ；=0：invalid
[3]~[15]
Reserved
Reserved
--
--
（2-5）Virtual OUTPUT：0x1F1
Bit
Name
Symbol
Operation
Specification
[0]
Servo ready
SRDY
R
=1：valid ；=0：invalid
[1]
Reserved
--
--
--
[2]
Positioning completed
INP
R
=1：valid ；=0：invalid
[3]
Speed reach
ATSPD
R
=1：valid ；=0：invalid
[4]
Torque limit signals effective
TLC
R
=1：valid ；=0：invalid
[5]
zero-speed
ZSP
R
=1：valid ；=0： invalid
[6]
Velocity Matching
VCOIN
R
=1：valid ；=0：invalid
[7]
Reserved
--
--
--
[8]
Reserved
--
--
--
[9]
Position command have output or
not
PCMD
R
=1：valid ；=0：invalid
[10]
Reserved
--
--
--
[11]
Reserved
--
--
--
[12]
Reserved
--
--
--
[13]
Speed command have output or
not
VCMD
R
=1：valid ；=0：invalid
[14]
alarm signal
ALARM
R
=1：valid ；=0：invalid
[15]
Reserved
Reserved
--
--
（3）Alarm signal
Sort
Name
Address
Operation
Unit
Specification
Alarm
signal
Servo error alarm
0x1f2
R
--
Refer to explain 3
Explain3
3：
Alarm signal define：ADD 0x1f2
The value of the bit
[11:0](HEX).
High 4 bit [15:12] must be
shielded
Alarm List
The value of the bit
[11:0](HEX).
High 4 bit [15:12] must be
shielded
Alarm List
0x000
No Alarm
0x190
excessive vibration
0x0E1/0x0E0
over-current
0x150
encoder line breaked
0x100
over-load
0x151/0x170
encoder data error
0x180
position error over-large
error
0x152
initialized position of
encoder error
0x1A0
over-speed
0x240
CRC verification error
when EEPROM parameter
is saved