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Table 8.2 Function Description of Digital Output (DO)
Setting Value: 0x01
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SRDY When the controlled and main circuit power is applied to the drive,
this DO is ON if no alarm occurs.
Level
triggered
ALL
Setting Value: 0x02
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SON When the servo is ON, this DO is ON if no alarm occurs.
Level
triggered
ALL
Setting Value: 0x03
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
ZSPD When the motor speed is slower than the setting speed of zero
speed (P1-38), this DO is ON.
Level
triggered
ALL
Setting Value: 0x04
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
TSPD When the motor speed is faster than the target speed (P1-39),
this DO is ON.
Level
triggered
ALL
Setting Value: 0x05
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
TPOS In position mode, when the deviation pulse number is smaller than
the position range (the setting value of P1-54), this DO is ON.
When the drive is in PR mode, this DO is ON when the position
error between target position and current position is smaller than
the setting value (value of P1-54).
Level
triggered
PT, PR
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Setting Value: 0x06
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
TQL When it is in torque limit, this DO is ON. Level
triggered
ALL ,
except T,
Tz
Setting Value: 0x07
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
ALRM When the alarm occurs, this DO is ON.
(Except DO: 0x11 (forward / reverse limit, communication error,
under voltage))
Level
triggered
ALL
Setting Value: 0x08
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
BRKR When the signal of brake control is output, adjust the setting of
parameter P1-42 and P1-43.
SON
OFF
BRKR
OFF
Motor
Speed
ON
ON
OFF
OFF
MBT1(P1-42)
ZSPD
(P1-38)
MBT2(P1-43)
Level
triggered
ALL
Setting Value: 0x09
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
HOME When homing is completed, it means the position coordinates
system is available and this DO is ON.
When applying to the power, this DO is OFF. When homing is
completed, this DO is ON. During the operation, this DO is ON
until the counter overflows (including command or feedback) and
the DO becomes OFF.
When PR triggers homing command, this DO becomes OFF.
After homing, this DO becomes ON.
Level
triggered
PR
Setting Value: 0x0D
DO Name Function Description of Digital Output (DO) Control Mode
ABSW Warning of absolute encoder. ALL
Chapter 8 Parameters ASDA-A2
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Setting Value: 0x0E
DO Name Function Description of Digital Output (DO) Control Mode
IDXD Indexing coordinates is valid. PR
Setting Value: 0x10
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
OLW When reaching the overload setting, this DO is ON.
t
OL
= Overload allowable time of the servo x Setting value of P1-56,
when the overload accumulative time exceeds t
OL,
it will
output pre-overload warning (OLW). However, if the overload
accumulative time exceeds the overload allowable time of the
servo, it will output pre-overload error (ALRM).
For example:
The setting value of pre-overload warning is 60% (P1-56=60).
When the output average load of the servo drive is 200%, if the
output time exceeds 8 seconds, the servo drive will show the
overload alarm (AL.006).
t
OL
= The output average load of the servo exceeds 200% for 8
seconds x parameter setting value = 8sec x 60% = 4.8sec
Result: When the output average load of the servo drive exceeds
200% for 4.8 seconds, this DO is ON. If it exceeds for 8 seconds,
then, DO.ALRM is ON.
Level
triggered
ALL
Setting Value: 0x11
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
WARN Warning output (Forward / reverse limit, emergency stop,
communication error, under voltage)
Level
triggered
ALL
Setting Value: 0x12
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
OVF Position Command /Feedback Overflows Level
triggered
PR
Setting Value: 0x13
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SNL
(SCWL)
Software limit (Reverse limit) Level
triggered
ALL
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Setting Value: 0x14
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SPL
(SCCWL)
Software limit (Forward limit) Level
triggered
ALL
Setting Value: 0x15
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
Cmd_OK Complete PR command and enter into PR mode, this DO is ON.
When PR command is executing, this DO is OFF.
After completing the command, this DO is ON.
When the DO is ON, it means the command is completed, but not
finishing motor positioning. Please refer to DO.TPOS.
Level
triggered
PR
Setting Value: 0x16
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
CAP_OK CAP procedure completed Level
triggered
ALL
Setting Value: 0x17
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
MC_OK When DO.Cmd_OK and TPOS are both ON, this DO is ON. Refer
to P1-48.
Level
triggered
PR
Setting Value: 0x18
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
CAM_AREA Master of E-Cam locates in setting area.
A2L does not support E-Cam function.
Level
triggered
PR
Setting Value: 0x19
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SP_OK Speed completed output: In speed mode, when the deviation
between the speed feedback and the command is smaller than
the setting value of P1-47, then this DO is ON.
Level
triggered
S / Sz
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Setting Value: 0x2C
DO Name Function Description of Digital Output (DO) Control Mode
Zon1
When the value which is monitored by P0-09 is between P0-54
P0-55, then this DO is ON.
ALL
Setting Value: When DI.ABSE is ON, DO2 outputs ABSR signal, function set by P2-19 is
disabled.
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
ABSR is
always
outputted
by DO2
DO.ABSR is OFF means the Request sent by ABSQ has been
received. DO.ABSR is ON means the data that is outputted by
ABSD is valid. When DI.ABSE is ON, this DO is enabled. Please
refer to diagram 12.4 for detailed description.
Level
triggered
ALL
Setting Value: When DI.ABSE is ON, DO3 outputs ABSD signal, function set by P2-20 is
disabled.
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
ABSD is
always
outputted
by DO3
Position data of ABS is outputted. The data is valid when ABSR is
ON. When DI.ABSE is ON, this DO is enabled. Please refer to
diagram 13.4 for detailed description.
Level
triggered
ALL
Setting Value: 0x30
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_0 Output the status of bit 00 of P4-06 Level
triggered
ALL
Setting Value: 0x31
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_1 Output the status of bit 01 of P4-06 Level
triggered
ALL
Setting Value: 0x32
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_2 Output the status of bit 02 of P4-06 Level
triggered
ALL
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Setting Value: 0x33
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_3 Output the status of bit 03 of P4-06 Level
triggered
ALL
Setting Value: 0x34
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_4 Output the status of bit 04 of P4-06 Level
triggered
ALL
Setting Value: 0x35
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_5 Output the status of bit 05 of P4-06 Level
triggered
ALL
Setting Value: 0x36
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_6 Output the status of bit 06 of P4-06 Level
triggered
ALL
Setting Value: 0x37
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_7 Output the status of bit 07 of P4-06 Level
triggered
ALL
Setting Value: 0x38
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_8 Output the status of bit 08 of P4-06 Level
triggered
ALL
Setting Value: 0x39
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_9 Output the status of bit 09 of P4-06 Level
triggered
ALL
Chapter 8 Parameters ASDA-A2
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Setting Value: 0x3A
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_A Output the status of bit 10 of P4-06 Level
triggered
ALL
Setting Value: 0x3B
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_B Output the status of bit 11 of P4-06 Level
triggered
ALL
Setting Value: 0x3C
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_C Output the status of bit 12 of P4-06 Level
triggered
ALL
Setting Value: 0x3D
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_D Output the status of bit 13 of P4-06 Level
triggered
ALL
Setting Value: 0x3E
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_E Output the status of bit 14 of P4-06 Level
triggered
ALL
Setting Value: 0x3F
DO Name Function Description of Digital Output (DO)
Trigger
Method
Control
Mode
SDO_F Output the status of bit 15 of P4-06 Level
triggered
ALL
NOTE
1When P2-18P2-22 is set to 0, DO has no function.