ASDA-A2 Chapter 7 Motion Control
7-16 Revision February, 2017
7.9 DI / DO Provided by PR Mode and Diagrams
DI signal:
CTRG, SHOM, STP, POS 0~5, ORG, PL (CCWL), NL (CWL), EV1~4
DO signal:
CMD OK, MC_OK, TPOS, ALM, CAP_OK, CAM_AREA
System frame:
DI.CTRG
DO.CMD_OK
DO.TPOS
DO.CMD_OK
DLY
Command is issuing
Servo positioning
is complete
PR procedure is
complete
Description of command triggered method in PR mode:
64 command procedures are in each axis of PR mode. Procedure #0 is homing and the others
(#1~#63) are the procedures that users can self-define. The command triggered method is
concluded as the followings:
Command Source Description
Standard
trigger
DI.CTRG + POS0 ~ 5
Use DI.POS0 ~ 5 to trigger the desired procedure number.
Then, use the rising edge of DI.CTRG to trigger PR
command.
Application: PC or PLC that issues command via DI
Functional
trigger
DI.STP, SHM
When DI.STP is from OFF ON, the command stops in
half way.
When DI.SHOM is from OFF ON, it starts homing.
Event
trigger
DI.EV1~4
The change status of DI.EV1 ~ 4 can be the triggered event.
Set the triggered procedure number from OFF ON by
parameter P5-98.
Set the triggered procedure number from ON OFF by
parameter P5-99.
Application: connect to the sensor and trigger the preset
procedure.
Software
trigger
P5-07
Directly write the procedure number into P5-07 and trigger
command.
Both panel and communication (RS-232/485／CANopen)
can do.
Application: PC or PLC that issues command via
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