ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-279
Table 8.1 Function Description of Digital Input (DI)
Setting Value: 0x01
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
SON When this DI is On, servo is activated (Servo On) Level
triggered
ALL
Setting Value: 0x02
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
ARST After the alarm has been cleared, when the DI is ON the drive will
show that the alarm has been cleared.
Rising
edge
triggered
ALL
Setting Value: 0x03
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
GAINUP In speed and position mode, when the DI is ON (P2-27 should be
set to 1), the gain switched to the one multiplies the switching
rate.
Level
triggered
PT, PR, S
Setting Value: 0x04
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
CCLR Clear the pulse counter and the setting of parameter P2-50.
0: clear the position pulse deviation (It is suitable in PT mode).
When DI is ON, the accumulative pulse deviation of the drive will
be cleared to 0.
Rising
edge
triggered,
Level
triggered
PT, PR
Setting Value: 0x05
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
ZCLAMP When the speed is slower than the setting of zero speed (P1-38),
if the DI is ON, the motor stops running.
Level
triggered
S
Time
Setting value of
P1-38 (Zero speed)
OFF
ZCLAMP
input signal
Motor Speed
ON
Speed
Command
Setting value of
P1-38 (Zero speed)
Chapter 8 Parameters ASDA-A2
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Setting Value: 0x06
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
CMDINV In speed mode, when the DI is ON, the input command will be in
reverse direction.
Level
triggered
S
Setting Value: 0x07
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
Reserved
Setting Value: 0x08
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
CTRG In PR mode, after selecting the PR command (POS0 ~ 5), when
the DI is ON, the motor will rotate according to the command
issued by the register.
Rising
edge
triggered
PR
Setting Value: 0x09
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
TRQLM In speed and position mode, when the DI is ON, the motor torque
will be limited, and the limited torque command will be internal
register or analog voltage command.
Level
triggered
PT, PR, S
Setting Value: 0x0A
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
GTRY When gantry control function is enabled (P1-74 = 2), if it needs to
temporarily disable this function, turn on DI.GTRY will do. And the
axis that received the command from DI.GTRY no longer
calculates the error between two axes.
Rising
edge
triggered
PT
Setting Value: 0x0C
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
VPL Latch function of analog position command.
When this DI is ON, the motor will be held on the current
position.
During the time of DI ON, the motor will not operate even when
there is any change of analog command. When this DI is OFF,
the motor will complete the command during the time the DI is
triggered.
Level
triggered
PT/PR
Full-
closed
loop
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-281
Note: The above graph is the commands that haven’t gone
through P1-65 filter.
Setting Value: 0x0D
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
VPRS Clear function of analog position command
When this DI is ON, the motor will be held in the current
position.
Despite the change of analog command during the time of DI
ON, the motor will still stay in the current position even when the
DI is OFF. However, the position the motor stays will correspond
to the new analog command. Thus, the coordinate system of the
motor will be redefined.
Rising
edge
triggered
PT/PR
Full-
closed
loop
Chapter 8 Parameters ASDA-A2
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Setting Value: 0x10
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
SPDLM In torque mode, when the DI is ON, the motor speed will be
limited, the limited speed command will be internal register or
analog voltage command.
Level
triggered
T
Setting Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C
DI
Name
Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
POS0
POS1
POS2
POS3
POS4
POS5
PR Command Selection (1~64)
Position
Command
POS5 POS4 POS3 POS2 POS1 POS0 CTRG
Corresponding
Parameter
Homing 0 0 0 0 0 0
P6-00
P6-01
Procedure1 0 0 0 0 0 1
P6-02
P6-03
~
Procedure
50
1 1 0 0 1 0
P6-98
P6-99
Procedure
51
1 1 0 0 1 1
P7-00
P7-01
~
Procedure
63
1 1 1 1 1 1
P7-26
P7-27
Level
triggered
PR
Setting Value: 0x1D
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
ABSE
When DI.ABSE is ON, it is in ABS mode. DI.ABSQ, DI.ABSC,
DI.ABSR, DI.ABSD and DI.ABSC are enabled.
When DI.ABSE is ON, the function of DI4, DO2, and DO3 will be
disabled. Function of DI4 will be ASDQ, DO2 will be ABSR and
DO3 will be ABSD.
Level
triggered
ALL
Setting Value: 0x1F
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
ABSC
When DI.ABSC is ON, multi-turn data stored in absolute encoder
will be cleared. When DI.ABSE is ON, this function is enabled.
Rising
edge
triggered
ALL
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-283
Setting Value: When DI.ABSE is ON, DI4 inputs ABSQ signal, function set by P2-13 is
disabled.
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
ABSQ is
always
inputted
by DI4
During I/O transmission, Handshaking signal will be sent to the
servo drive by the controller. When DI.ABSQ is OFF, it means the
controller issues Request ; DI.ABSQ is ON means the controller
has already recdived ABSD signal. When DI.ABSE is ON, this DI
is enabled. Please refer to diagram 12.4 for detailed description.
Rising
and
Falling
edge
triggered
ALL
Setting Value: 0x14, 0x15
DI
Name
Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
SPD0
SPD1
Internal Speed Command Selection (1~4)
Speed
Command
Number
DI
signal
of CN1
Command Content Range
S1 0 0 S
External
analog
command
Voltage deviation
between V-REF
and GND
+/- 10V
S
z
N/A Speed command
is 0
0
S2 0 1
Register
Parameter
P1-09 +/-5000
r/min
S3 1 0 P1-10 +/-5000
r/min
S4 1 1 P1-11 +/- 5000
r/min
Level
triggered
S
Setting Value: 0x16, 0x17
DI
Name
Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
TCM0
TCM1
Internal Torque Command Selection (1~4)
Torque
Command
Number
DI
signal
of CN1
Command Content Range
T1 0 0 T External
analog
command
Voltage deviation
between T-REF
and GND
+/- 10V
Tz N/A Torque command
is 0
0
T2 0 1
Register
Parameter
P1-12
+/- 300 %
T3 1 0 P1-13
+/- 300 %
T4 1 1 P1-14
+/- 300 %
Level
triggered
T
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Setting Value: 0x18
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
S-P In position and speed mode, if the DI is OFF, it is in speed mode.
And it is in position mode when the DI is ON. (P selects PT or PR
via DI.PT-PR (0x2B).)
Level
triggered
Dual
Mode
Setting Value: 0x19
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
S-T In speed and torque mode, if the DI is OFF, it is in speed mode.
And it is in torque mode when the DI is ON.
Level
triggered
Dual
Mode
Setting Value: 0x20
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
T-P In position and torque mode, if the DI is OFF, it is in torque mode;
if the DI is ON, then it is in position mode.
Level
triggered
Dual
Mode
Setting Value: 0x21
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
EMGS When this DI is ON, the motor stops urgently. Level
triggered
ALL
Setting Value: 0x22
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
NL (CWL) Reverse inhibit limit (contact b) Level
triggered
ALL
Setting Value: 0x23
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
PL
(CCWL)
Forward inhibit limit (contact b) Level
triggered
ALL
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-285
Setting Value: 0x24
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
ORGP
In PR mode, during the process of homing if the DI is ON ←→
OFF, the servo will regard this position as the homing origin.
(Please refer to the setting of parameter P5-04)
Rising /
Falling
edge
triggered
PR
Setting Value: 0x27
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
SHOM In PR mode, when searching the origin is needed, it will activate
the function of searching the origin when the DI is ON. (Please
refer to the setting of parameter P5-04)
Rising
edge
triggered
PR
Setting Value: 0x2B
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
PT-PR When selecting PT-PR dual mode or PT-PR-S multiple mode,
source can be selected via this DI. If this DI is OFF, it is in PT
mode; If the DI is ON, it is in PR mode.
Level
triggered
Dual
Mode
Setting Value: 0x36
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
CAM E-Cam engaging control (Please refer to the setting of P5-88 U, Z
value)
Rising /
Falling
edge
triggered
PR
Setting Value: 0x37
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
JOGU When this DI is ON, the motor will JOG in forward direction. Level
triggered
ALL
Setting Value: 0x38
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
JOGD When this DI is on, the motor will JOG in reverse direction. Level
triggered
ALL
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Setting Value: 0x39
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
EV1 Event trigger command #1 (Refer to the setting of P5-98, P5-99) Rising
/Falling
edge
triggered
PR
Setting Value: 0x3A
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
EV2 Event trigger command #2 (Refer to the setting of P5-98, P5-99) Rising
/Falling
edge
triggered
PR
Setting Value: 0x3B
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
EV3 Event trigger command #3 (It is provided after firmware version
V1.008 sub04.)
Rising
/Falling
edge
triggered
PR
Setting Value: 0x3C
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
EV4 Event trigger command #4 (It is provided after firmware version
V1.008 sub04)
Rising
/Falling
edge
triggered
PR
Setting Value: 0x43, 0x44
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
GNUM0
GNUM1
Gear Ratio Selection 0 (Numerator)
Gear Ratio Selection 1 (Numerator)
Level
triggered
PT
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-287
Setting Value: 0x45
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
INHP In position mode, when this DI is ON, the external pulse input
command is not working.
(Note: The function has to be set to DI8 so as to ensure the
instantaneity of pulse prohibition)
Level
triggered
PT
Setting Value: 0x46
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
STOP Motor stops Rising
edge
triggered
PR
Setting Value: 0x47
DI Name Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
PFQS
This DI can be used to stop the emergency stop of deceleration
time. The setting of deceleration time is identical to P5-03. When
DI.PFQS is on, AL35F will occur. Then, motor starts to
decelerate. When the speed reaches 0, AL3CF occurs and servo
is off. Please turn on DI.ARST to servo on the drive again.
Rising
edge
triggered
PT,PR,T,S
NOTE
1）11 ~ 17 Single control modes; 18~20 Dual control mode.
2）When P2-10 ~ P2-17 is set to 0, DI has no function.
