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ASDA-A3

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Wiring

See the following table for the default DO signal of each control mode:

Control mode

PT

DO

PR

S / Sz

T / Tz

PT-S

Default

Default

Default

Default

Default

Signal

Signal

Signal

Signal

Signal

0x01

0x01

0x01

0x01

0x01

1

SRDY

SRDY

SRDY

SRDY

SRDY

0x03

0x03

0x03

0x03

0x03

2

ZSPD

ZSPD

ZSPD

ZSPD

ZSPD

0x09

0x09

0x04

0x04

0x04

3

HOME

HOME

TSPD

TSPD

TSPD

0x05

0x05

0x08

0x08

0x05

4

TPOS

TPOS

BRKR

BRKR

TPOS

0x07

0x07

0x07

0x07

0x07

5

ALRM

ALRM

ALRM

ALRM

ALRM

6

-

-

-

-

-

PT-T

Default

Signal

0x01

SRDY

0x03

ZSPD

0x04

TSPD

0x05

TPOS

0x07

ALRM

-

PR-S

Default

Signal

0x01

SRDY

0x03

ZSPD

0x04

TSPD

0x05

TPOS

0x07

ALRM

-

3

Control mode

PR-T

DO

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

SRDY

SRDY

-

SRDY

SRDY

SRDY

0x03

0x03

-

0x03

0x03

0x03

2

ZSPD

ZSPD

-

ZSPD

ZSPD

ZSPD

0x04

0x04

3

TSPD

TSPD

-

0x09

0x09

0x09

-

HOME

HOME

HOME

0x05

-

4

TPOS

-

-

0x05

0x05

0x05

-

TPOS

TPOS

TPOS

0x07

0x07

0x07

0x07

0x07

0x07

5

ALRM

ALRM

ALRM

ALRM

ALRM

ALRM

6

-

-

-

-

-

-

Note: description of each DO signal.

DO

Description

DO

SRDY Servo ready

HOME

ZSPD Zero motor speed

TPOS

BRKR Magnetic brake

-

Description

Homing is complete

Target position reached

-

DO

TSPD

ALRM

-

Description

Target speed reached

Servo alarm

-

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