Leadshine ELD2 Series - Page 83

UserManualforELD2Servo
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83
[14] Internal instruction speed choice
INTSPD2 R/W =1：valid ；=0：invalid
[15] Internal instruction speed choice
INTSPD3 R/W =1：valid ；=0：invalid
（2-3）Virtual INPUT2：0x198
Bit Name Symbol Operation Specification
[0] Zero speed clamping ZEROSPD R/W =1：valid ；=0：invalid
[1] Torque instruction symbols VC-SIGN R/W =1：valid ；=0：invalid
[2] Torque instruction symbols TC-SIGN R/W =1：valid ；=0：invalid
[3] Forced alarm E-STOP R/W =1：valid ；=0：invalid
[4] Reserved -- -- --
[5] Position error clear CL-LAST R/W =1：valid ；=0：invalid
[6]~[15] Reserved Reserved -- --
（2-4）Servo status：0x1F0
Bit Name Symbol Operation Specification
[0] Reserved Reserved -- --
[1] Servo enable SRV-ON R =1：valid ；=0：invalid
[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
PCMD R =1：valid ；=0：invalid
[10]
Reserved -- -- --
[11]
Reserved -- -- --
[12]
Reserved -- -- --
[13] Speed command have output or
VCMD R =1：valid ；=0：invalid
[14]
alarm signal ALARM R =1：valid ；=0：invalid
[15]
Reserved Reserved -- --