Technical Manual for EA350 Analog Pulse Type Servo Driver V101 3.4.3 DO function definition table Caution ☞ 1. Generally 10rpm speed hysteresis is present; during the hysteresis, the output remains unchanged. 2. Generally 3.0% hysteresis is present; during the hysteresis, the output remains unchanged.
33 Running Settings Item 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 does not 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 defined by 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 P S T 12 ALM Alarm output Valid: An alarm event occurs 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 Valid: Homing completed Invalid:
Homing is being executed 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 comparison output Valid: Both SPD P and TRQ P are valid _ _ Invalid: SPD P or TRQ P is invalid _ _ P S T