Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: Set the event corresponding to each DO; see Table 8-2. When corresponding event occurs, output of the DO terminal set to corresponding event is valid. For example, when P6-12=1, if the servo is ready, the output of DO1 terminal is valid (when P6-11 bit0=0, DO1 terminal is connected; when P6-11 bit0=1, DO1 is cut off).
Table 8-2 DO function definition 176 P6-14 DO3 function selection Initial value 8 Communication address 060EH Unit - Time of taking effect Taking effect upon power-on again Setting range 0~99 Data size 16bit Control mode P S T P6-15 DO4 function selection Initial value 12 Communication address 060FH Unit - Time of taking effect Cannot be modified Setting range 0~99 Data size 16bit Control mode P S T Settings Item Running Function name Description mode 0 Disable Terminal inactive 1 S-RDY Servo ready Active - The servo is ready and can receive S-ON commands Inactive - The servo is not ready and cannot receive S-ON commands P S T 2 BK Brake control Active - Release the holding brake (brake powered on) Inactive - Close the holding brake (brake powered off) P S T 3 TGON Motor rotation Active - The motor is rotating (the rotating speed is higher than the P0-04 set value) Inactive - The motor stops rotating (the rotating speed is lower than the P0-04 set value) P S T 4 ZER0 Zero speed of motor Active - The motor speed is zero (the speed is lower than the P0-03 set value) Inactive - The motor speed is not zero (the speed is higher than the P0-03 set value) P S T 5 V-CLS Speed reached Valid:
The actual motor speed reaches or exceeds the P2-08 set value (regardless of direction). P S T 6 V-CMP Speed consistency Valid: Upon speed control, the absolute value of the difference between the actual motor speed and the speed command value is smaller than the P2-09 set value S 7 PNEAR Positioning approach Valid: In the position control mode, the count of position deviation pulses is smaller than the P1-23 set value of the positioning approach width P 8 COIN Positioning completion Valid:
In the position control mode, the count of position deviation pulses is smaller than the P1-24 set value of the positioning completion width, and satisfies the condition of P1-22 P 9 C-LT Torque limit Valid - Motor torque limited Invalid - Motor torque not limited P S T 10 V-LT Rotating speed limit Valid - Motor speed limited Invalid - Motor speed not limited T 11 WARN Warning output Valid: A warning event occurs Invalid: No warning event P S T 12 ALM Alarm output Valid: An alarm event occurs Invalid: No alarm event P S T 13 Tcmp Torque consistency Valid: The motor output torque reaches the set value Invalid:
The motor output torque does not reach the set value T 14 Home Homing completed Valid: Homing completed Invalid: Homing not completed yet P 15 S-RUN Servo on Valid - The servo is on Invalid - The servo is off P S T 27 T CLS _ The torque is reached Valid: The motor current percentage reaches or exceeds the P3-07 set value (regardless of the direction) P S T 29 SPD P _ Speed programming comparison output P8-36 selects the judgment logic; when the condition is satisfied, the output is valid; otherwise when the condition is dissatisfied, the output is invalid; when 10rpm hysteresis is present, the output remains unchanged during the hysteresis.
P S T 30 TRQ P _ Torque programming comparison output P8-39 selects the judgment logic; when the condition is satisfied, the output is valid; otherwise when the condition is dissatisfied, the output is invalid; when 3.0% hysteresis is present, the output remains unchanged during the hysteresis. P S T 31 SPD TRQ _ Speed and torque programming Valid: Both SPD P and TRQ P are valid simultaneously Invalid: SPD P or _ _ _ TRQ P is invalid _ P S T