Chapter 5 Parameters
92
5.6
DO function detail
See "6.5.3 Digital input/digital output" for details. The following table shows the function
description of IO.
Ordinal Symbol DO Function Functional explanation
0 OFF Always invalid Force output OFF.
1 ON Always valid Force output ON.
2 RDY Servo ready
OFF：The main servo power supply is not turned
OFF or there is an alarm;
ON ：The main servo power supply is normal
and there is no alarm.
3 ALM Alarm OFF：There is an alarm; ON ：No alarm.
8 BRK
Electromagnetic
brake
OFF：Electromagnetic brake applies the brake;
ON ：Electromagnetic brake releases the brake.
9 RUN Servo in operation
OFF：The servo motor runs without power on;
ON ：The servo motor is energized and running.
11 TRQL
Torque under
limitation
OFF：Servomotor torque has not reached the
limit value;
ON ：Servomotor torque has reached the limit
value.
12 SPL
Speed under
limitation
In torque control mode
OFF：Servomotor speed has not reached the limit
value;
ON ：Servomotor speed has reached the limit
value.
13 HOME Homing complete When homing is complete, output ON
16 DBC Dynamic braking
OFF：External dynamic brake is invalid;
ON ：External dynamic brake in effect.
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