Definition of DI/DO functions
| No. | Title | Symbol | Description |
| Description on Input signal functions | |||
|
1 |
Servo-ON input |
SRV-ON |
Valid: Servo motor power-on enable Ineffective: Servo motor power-on is disabled |
|
2 |
Emergency Stop |
|
Valid: Position locked after zero speed stop; Ineffective: Present running status is not affected. |
|
3 |
Instruction disable |
|
Valid: Disable position instruction input Ineffective: Position instruction input is allowed |
|
4 |
Position deviation cleared (edge effective function) |
|
Valid: Position deviation is zero cleared; Ineffective: Position deviation is not cleared. |
|
5 |
Error reset (Edge effective function) |
|
Ineffective: Disable; Valid: Enable. |
|
6 |
Zero speed retention |
|
Valid: Enables the zero fixed function. Ineffective: Zero fixed function is disabled. |
|
7 |
Positive direction Jogging |
|
Valid: Input per the given instruction; Ineffective: Run instruction to stop input. |
|
8 |
Negative direction Jogging |
|
Valid: Reverse input per the given instruction; Ineffective: Run instruction to stop input. |
|
9 |
Positive direction over-travel inhibition input |
POT |
Valid: Forward drive is disabled. Ineffective: Forward drive is allowed. |
|
10 |
Negative direction over-travel inhibition input |
NOT |
Valid: Reverse drive is disabled; Ineffective: Reverse drive is allowed. |
|
11 |
Home switch |
|
Ineffective: Not triggered. Valid: Triggered. |
|
12 |
Return-to-zero function is enabled |
|
Ineffective: Disabled Valid: Enabled |
|
13 |
Speed limit selection |
|
Valid: Torque instruction absolute value reaches the setting value Ineffective: Torque instruction absolute value is below the setting value |
|
14 |
Forward torque limit selection |
|
According to the selection of 2015:04h, torque limit source is switched. |
|
15 |
Reverse torque limit selection |
|
According to the selection of 2015:04h, torque limit source is switched. |
|
16 |
The preset position enable |
|
Valid: servo motor runs multi-stage position instructions; Ineffective: servo motor is locked; |
|
19 |
Torque instruction reversing |
|
Ineffective: Positive direction; Effective: negative direction. |
|
20 |
Speed instruction reversing selection |
|
Ineffective: Positive direction; Effective: negative direction. |
|
22 |
Gain switching selection |
|
2008-09h=0： Ineffective: Speed control loop is PI control; Valid: Speed control loop is P control. 2008-09h =1 hour: Execute per the settings of 2008-0Ah. |
|
23 |
Runing instruction switch |
|
Ineffective: The present running instruction is A Valid: The present running instruction is B |
|
24 |
Mode switch 1 |
|
According to the selected control mode (3/4/5), switch between speed/position/torque modes |
|
25 |
Mode switch 2 |
|
According to the selected control mode (6), switch between speed/position/torque modes |
|
26 |
Electronic gear switch |
|
Ineffective: Electronic gear ratio 1 Valid: Electronic gear ratio 2 |
|
27 |
DeError instruction selection 1 |
|
16 preset instruction selection |
|
28 |
DeError instruction selection 2 |
|
16 preset instruction selection |
|
29 |
DeError instruction selection 3 |
|
16 preset instruction selection |
|
30 |
DeError instruction selection 4 |
|
16 preset instruction selection. |
|
31 |
The present DI trigger point used as the origin |
|
Valid: Triggered Ineffective: Not triggered |
| No. | Title | Symbol | Description | Remarks |
| Description on output signal functions | ||||
|
1 |
Servo Ready |
S-RDY |
Servo state is ready to receive S:ON effective signal: Valid: Servo ready; Ineffective: Servo is not ready. |
Servo is not ready: the servo has a Type I or Type II Error, or DI emergency stop is valid. |
|
2 |
Servo Run (Run) |
|
Server is in the RUN state and can receive commands: Valid: Servo can run; Ineffective: Servo can't run. |
- |
|
3 |
Servo Warn Output |
WARN |
Alarm output signal is valid.(Conductive) |
- |
|
4 |
Servo Alarm output |
ALM |
The status is valid when Error is detected. |
- |
|
5 |
Motor Motion |
TGON |
When motor speed is higher than the threshold 2006:11h: Valid: Motor motion signal is valid; Ineffective: Motor motion signal is Ineffective. |
- |
|
6 |
Zero speed signal (Zero) |
|
Output signal when servo motor stops Valid: Motor speed is zero; Ineffective: Motor speed is not zero. |
- |
|
7 |
Consistent Speed (VCmp) |
|
Under speed control, absolute value of the difference between motor speed and speed instruction is less than 606Dh; It reaches the speed threshold, and the time meets 606Eh, it's valid. |
- |
|
8 |
Velocity Arrival (VArr) |
|
Valid: Speed feedback reaches the setting; Ineffective: Speed feedback doesn't reach the setting. |
- |
|
9 |
Torque Arrival (TArr) |
|
Valid: Absolute torque reaches the setting; Ineffective: Torque absolute value is less than the setting. |
- |
|
10 |
Positioning Near |
|
Under position control, it's effective when position deviation pulse reaches the setting of positioning near signal amplitude P13.09. |
- |
|
11 |
Position arrival(Coin) |
|
Under position control, position deviation pulse reaches the threshold 6067h of positioning completion, and the time reaches 6068h; It is valid. |
- |
|
12 |
Torque Limit (Clt) |
|
Confirmation signal of torque limit: Valid: Motor torque is limited; Ineffective: Motor torque isn't limited. |
- |
|
13 |
Speed Limit (Vlt) |
|
Confirmation signal of speed limitation in torque control: Valid: Motor speed is limited; Ineffective: Motor speed is not limited. |
- |
|
14 |
Home completed, HomeOK |
|
Valid: The origin homing is completed; Ineffective: The origin homing is uncomplete; |
- |
|
17 |
External brake release signal |
BRK-OFF |
Brake signal output Valid: Switch off, brake is cancelled; Ineffective: Start the brake. |
- |
|
18 |
Dynamic Brake (DB) |
|
Valid: Dynamic brake relay is OFF, dynamic brake is enabled; Ineffective: Dynamic brake relay is ON, dynamic brake is disabled; |
- |
|
19 |
Magnetic pole identification ready (AngRdy) |
|
Valid: Magnetic pole identification is ready; Ineffective: Magnetic pole identification bit is uncomplete; |
- |