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Wiring

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ASDA -A3

3

Control mode

PR-T

DI

S-T

CANopen

PT-PR

PT-PR-S

PT-PR-T

Default

Default

Default

Default

Default

Default

Signal

Signal

Signal

Signal

Signal

Signal

0x01

0x01

-

0x01

0x01

0x01

1

SON

SON

-

SON

SON

SON

0x08

-

2

CTRG

-

-

0x04

0x04

0x04

-

CCLR

CCLR

CCLR

0x11

0x14

-

0x08

0x08

0x08

3

POS0

SPD0

-

CTRG

CTRG

CTRG

0x12

0x15

-

0x11

0x11

0x11

4

POS1

SPD1

-

POS0

POS0

POS0

0x16

0x16

0x24

0x12

0x12

0x12

5

TCM0

TCM0

ORGP

POS1

POS1

POS1

0x17

0x17

6

TCM1

TCM1

0x22

NL

0x13

POS2

0x24

ORGP

0x24

ORGP

0x20

7

T-P

0x19

S-T

0x23

PL

0x24

ORGP

0x18

S-P

0x20

T-P

0x21

0x21

0x21

0x2B

0x2B

0x2B

8

EMGS

EMGS

EMGS

PT-PR

PT-PR

PT-PR

-

-

-

0x02

9

-

-

-

ARST

10

-

-

-

-

Note:

1. Refer to the C7 and C8 diagrams in Section 3.4.1.3 for wiring.

2. Description of each DI signal:

DI

Description

DI

Description

0x02

ARST

-

0x02

ARST

-

DI

Description

SON

CCLR

CTRG

TRQLM

SPDLM

S-P

PT-PR

Servo activated

Pulse clear

Internal position

command triggered

Torque limit

Speed limit

Switch between S and

P modes

(dual / multi-mode)

Switch between PT

and PR modes

(dual / multi-mode)

NL

ARST

TCM0

SPD0

POS0

T-P

Negative limit

Alarm reset

Torque command 0

Speed selection 0

Internal position selection 0

Switch between T and P

modes (dual / multi-mode)

PL

EMGS

TCM1

SPD1

POS1

S-T

Positive limit

Emergency stop

Torque command 1

Speed selection 1

Internal position selection 1

Switch between S and T

modes (dual / multi-mode)

POS2 Internal position selection 2 ORGP ORG signal

3-74

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