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 143 Technical Manual for EA190 Series Servo Driver V100 effect modified Setting range 0~99 Data size 16bit Control mode P S T Settings Item Function name Description Running 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 P2-09 setting 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 defined by P1-22 P 9 C-LT Torque limit Invalid - The motor torque limit is invalid - the motor torque is not limited P S T 10 V-LT Rotating speed limit Valid - The motor speed limit is invalid - the motor speed is not limited T 11 WARN Warning output Valid: A warning event occurs Invalid: No warning event P S T