Wiring ASDA-B3 3 Note: 1. Description of each DI signal: 2. Refer to the C7 and C8 figures in Section 3.3.7 for wiring.
3-42 DI Control mode PR-S PR-T S-T PT-PR PT-PR-S PT-PR-T Default Default Default Default Default Default Signal Signal Signal Signal Signal Signal 1 0x01 0x01 0x01 0x01 0x01 0x01 SON SON SON SON SON SON 2 0x08 0x08 0x00 0x04 0x04 0x04 CTRG CTRG - CCLR CCLR CCLR 3 0x11 0x11 0x14 0x08 0x08 0x08 POS0 POS0 SPD0 CTRG CTRG CTRG 4 0x12 0x12 0x15 0x11 0x11 0x11 POS1 POS1 SPD1 POS0 POS0 POS0 5 0x14 0x16 0x16 0x12 0x12 0x12 SPD0 TCM0 TCM0 POS1 POS1 POS1 6 0x15 0x17 0x17 0x13 0x24 0x24 SPD1 TCM1 TCM1 POS2 ORGP ORGP 7 0x18 0x20 0x19 0x24 0x18 0x20 S-P T-P S-T ORGP S-P T-P 8 0x21 0x21 0x21 0x2B 0x2B 0x2B EMGS EMGS EMGS PT-PR PT-PR PT-PR 9 0x00 0x00 0x00 0x02 0x02 0x02 - - - ARST ARST ARST Signal Description Signal Description Signal Description SON Servo is activated NL Negative limit PL Positive limit CCLR Pulse clear ARST Alarm reset EMGS Emergency stop CTRG Internal position command triggered TCM0 Torque command 0 TCM1 Torque command 1 TRQLM Torque limit SPD0 Speed selection 0 SPD1 Speed selection 1 SPDLM Speed limit POS0 Internal position selection 0 POS1 Internal position selection 1 S-P Switch between S and P modes T-P Switch between T and P modes S-T Switch between S and T modes PT-PR Switch between PT and PR modes POS2 Internal position selection 2 ORGP ORG signal