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Wiring

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ASDA -A3

3

Control mode

PR-T

S-T

Communication PT-PR

PT-PR-S

PT-PR-T

DI

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

4

POS1

SPD1

0x24

ORGP

0x11

POS0

0x11

POS0

0x11

POS0

0x16

0x16

5

TCM0

TCM0

0x22

NL

0x12

POS1

0x24

ORGP

0x24

ORGP

0x20

6

T-P

0x19

S-T

0x23

PL

0x24

ORGP

0x18

S-P

0x20

T-P

0x21

0x21

7

EMGS

EMGS

0x21

EMGS

0x2B

PT-PR

0x2B

PT-PR

0x2B

PT-PR

Note:

1. Refer to the C7 and C8 diagrams in Section 3.4.2.3 for wiring.

2. Description of each DI signal:

DI

Description

DI

Description

DI

Description

SON Servo activated

NL Negative limit

PL

Positive limit

CCLR

CTRG

TRQLM

Pulse clear

Internal position

command triggered

Torque limit

ARST Alarm reset

TCM0 Torque command 0

SPD0 Speed selection 0

EMGS Emergency stop

TCM1 Torque command 1

SPD1 Speed selection 1

SPDLM

S-P

PT-PR

Speed limit

Switch between S and

P modes

(dual / multi-mode)

Switch between PT

and PR modes

(dual / multi-mode)

POS0

T-P

POS2

Internal position selection 0 POS1 Internal position selection 1

Switch between T and P

modes (dual / multi-mode)

S-T

Switch between S and T

modes (dual / multi-mode)

Internal position selection 2 ORGP ORG signal

3-92

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