Technical Manual for EA350 Analog Pulse Type Servo Driver V101 7.2.12 Group P6 - Input and output parameters 94 Parameter Function Data type Initial Applicable Communication Parameter scope Unit Attribute value mode address P6-00 DI filtering time U16 0〜20 2 ms P S T 〇 0600H P6-01 DI level logic 00000000B〜11111111B U16 00000000B - P S T 〇 0601H 0: Positive logic; 1:
Negative logic P6-02 DI1 function number Value Item Function name U16 0 Disabled Terminal inactive 1 - P S T ● 0602H 1 S-ON Servo on P6-03 DI2 function number 2 Warning and warning reset U16 ALM-RST 2 - P S T ● 0603H 3 Position deviation counter clearing P-CLR P6-04 DI3 function number U16 4 Direction selection for speed command 13 - P S T ● 0604H DIR-SEL P6-05 DI4 function number 5 CMD0 Internal command bit0 U16 6 CMD1 Internal command bit1 14 - P S T ● 0605H 7 CMD2 Internal command bit2 P6-06 DI5 function number 8 CMD3 Internal command bit3 U16 9 CTRG Internal command trigger 3 - P S T ● 0606H 10 MSEL Control mode switching P6-07 DI6 function number 11 ZCLAMP Zero position fixation on for speed command U16 12 - P S T ● 0607H 12 INHIBIT Pulse inhibited 13 P-OT Inhibit forward drive P6-08 DI7 function number U16 14 N-OT Inhibit reverse drive 20 - P S T ● 0608H 15 GAIN SEL Gain switching 16 J SEL Inertia switching P6-09 DI8 function number U16 17 _ JOG P Forward jog 18 _ JOG N Reverse jog 19 _ Direction selection for torque command TDIR-SEL 20 Numerator selection 0 for electronic gear ratio GNUM0 21 Numerator selection 1 for electronic gear ratio GNUM1 22 ORGP External detector input 23 SHOM Homing 21 - P S T ● 0609H 24 TL2 External torque limit 25 EMGS Emergency stop 28 CMD SEL Speed source switching 33 _ Direction selection for position command PDIR SEL _ 34 GBK Position probe 35 PUL UP Forward pulse deviation 36 _ PUL DN Reverse pulse deviation 47 _ External encoder switching FCL P6-10 DI forced valid 00000000B~11111111B U16 0:
Depending on the terminal status; 1: forced 00000000B - P S T 〇 060AH valid P6-11 DO level logic 00000B~11111B U16 00000B - P S T 〇 060BH 0: Positive logic; 1: Negative logic P6-12 DO1 function number Value Item Function name U16 0 Disable Terminal inactive 1 - P S T ● 060CH 1 S-RDY Servo ready P6-13 DO2 function number 2 BK Brake control U16 3 TGON Motor rotation 2 - P S T ● 060DH 4 ZER0 Zero speed of motor P6-14 DO3 function number 5 V-CLS Speed reached U16 6 V-CMP Speed consistency 8 - P S T ● 060EH 7 PNEAR Positioning approach P6-15 DO4 function number 8 COIN Positioning completion U16 9 C-LT Torque limit 12 - P S T ▲ 060FH 10 V-LT Rotating speed limit