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Chapter 8 Servo Parameters

Table 8.A Input Function Definition

Setting value: 0x01

Trigger Control
DI Name DI Function Description
Method Mode
Servo On. When this DI is activated, it indicates the Level
SON All
servo drive is enabled. Triggered

Setting value: 0x02

Trigger Control
DI Name DI Function Description
Method Mode
A number of Faults (Alarms) can be cleared by
activating ARST. Please see table 10-3 for applicable
faults that can be cleared with the ARST command. Rising-edge
ARST All
However, please investigate Fault or Alarm if it does Triggered
not clear or the fault description warrants closer
inspection of the drive system.

Setting value: 0x03

Trigger Control
DI Name DI Function Description
Method Mode
Gain switching in speed and position mode. When
GAINUP is activated (P2-27 is set to 1), the gain is Level
GAINUP PT, PR, S
switched to the gain multiplied by gain switching Triggered
rate.

Setting value: 0x04

Trigger Control
DI Name DI Function Description
Method Mode
When CCLR is activated, the setting parameter P2-50
Rising-edge
Pulse Clear Mode is executed.
Triggered,
CCLR 0: After CCLR is activated (ON), the position PT, PR
Level
accumulated pulse number will be cleared
Triggered
continuously.

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Chapter 8 Servo Parameters

Setting value: 0x05

Trigger Control
DI Name DI Function Description
Method Mode
When this signal is On and the motor speed value is
lower than the setting value of P1-38, it is used to lock
the motor in the instant position while ZCLAMP is On.
Speed
Command

Setting value of
P1-38 (Zero speed)
Level
ZCLAMP S
Triggered
ZCLAMP
input signal
OFF ON

Motor Speed

Setting value of
P1-38 (Zero speed)
Time

Setting value: 0x06

Trigger Control
DI Name DI Function Description
Method Mode
Command input reverse control. When the drive is
in the Position, Speed and Torque mode, and Level
CMDINV S, T
CMDINV is activated, the motor is in reverse Triggered
rotation.

Setting value: 0x07

Trigger Control
DI Name DI Function Description
Method Mode
Reserved

Setting value: 0x08

Trigger Control
DI Name DI Function Description
Method Mode
Command triggered (available in PR mode only).
When the drive is in PR mode and CTRG is activated,
the drive will command the motor to move the Rising-edge
CTRG PR
stored position which correspond the POS 0 ~ POS 5 Triggered
settings. Activation is triggered on the rising edge
of the pulse.

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Chapter 8 Servo Parameters

Setting value: 0x09

Trigger Control
DI Name DI Function Description
Method Mode
Torque limit enabled. When the drive is in speed
and position mode, and TRQLM is activated, it
Level
TRQLM indicates the torque limit command is valid. The PT, PR, S
Triggered
torque limit command source is internal parameter
or analog voltage.

Setting value: 0x10

Trigger Control
DI Name DI Function Description
Method Mode
Speed limit enabled. When the drive is in torque
mode and SPDLM is activated, it indicates the speed Level
SPDLM T
limit command is valid. The speed limit command Triggered
source is internal parameter or analog voltage.

Setting value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C

Trigger Control
DI Name DI Function Description
Method Mode
POS0 Position command selection POS0 ~ POS5 (64
POS1 positions)
POS2 When the PR Control Mode is selected, the 64 stored Level
positions are programmed via a combination of the PR
POS3 Triggered
POS 0 ~ POS 5 commands.
POS4
POS5

DI Trigger Control
DI Function Description
Name Method Mode

Position
POS5 POS4 POS3 POS2 POS1 POS0 CTRG Parameters
Command
P6-00
P1 ON ON ON ON ON ON
P6-01
P6-02
POS0 P2 ON ON ON ON ON OFF
P6-03
POS1
POS2 ~ ~ Level
PR
POS3 P6-98 Triggered
POS4 P50 OFF OFF ON ON OFF ON
P6-99
POS5
P7-00
P51 OFF OFF ON ON OFF OFF
P7-01
~ ~
P64 OFF OFF OFF OFF OFF OFF P7-26

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Chapter 8 Servo Parameters

Setting value: 0x46

Trigger Control
DI Name DI Function Description
Method Mode
Rising-edge
STOP Motor stop. PR
Triggered

Setting value: 0x14 ~ 0x15

DI Trigger Control
DI Function Description
Name Method Mode

Speed command selection 0 ~ 1 (Command S1 ~ S4)

DI signal of
Command CN1 Command
Content Range
No. Source
SPD1 SPD0
Voltage
External
between V-
S analog +/-10 V Level
SPD0 REF and
command
Mode

GND Triggere S
SPD1 S1 OFF OFF
d
Speed
Sz None command 0
is 0
S2 OFF ON Internal P1-09 -60000
parameter ~
S3 ON OFF P1-10

Setting value: 0x16 ~ 0x17

DI Trigger Control
DI Function Description
Name Method Mode
Torque command selection 0 ~ 1 (Command T1 ~ T4)
DI signal of
Command CN1 Command Source Content Range
No.
TCM1 TCM0
Voltage
Analog between V- +/-10
T Level
TCM0 command REF and V
Mode

T1 OFF OFF GND Triggere T

TCM1 d
Torque
Tz None command 0
is 0
T2 OFF ON P1-12 -300
Internal ~
T3 ON OFF P1-13
parameter +300
T4 ON ON P1-14 %

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Chapter 8 Servo Parameters

Setting value: 0x18

Trigger Control
DI Name DI Function Description
Method Mode
Speed / Position mode switching. Level
S-P P, S
OFF: Speed mode, ON: Position mode Triggered

Setting value: 0x19

Trigger Control
DI Name DI Function Description
Method Mode
Speed / Torque mode switching. Level
S-T S, T
OFF: Speed mode, ON: Torque mode Triggered

Setting value: 0x20

Trigger Control
DI Name DI Function Description
Method Mode
Torque / Position mode switching. Level
T-P P, T
OFF: Torque mode, ON: Position mode Triggered

Setting value: 0x2B

Trigger Control
DI Name DI Function Description
Method Mode
Internal position (PR) and external pulse (PT) mode Level
PT-PR PT, PR
switching. OFF: PT, ON: PR Triggered

Setting value: 0x21

Trigger Control
DI Name DI Function Description
Method Mode
Emergency stop. It should be contact “b” and Level
EMGS All
normally ON or a fault (AL013) will display. Triggered

Setting value: 0x22

Trigger Control
DI Name DI Function Description
Method Mode
Reverse inhibit limit. It should be contact “b” and Level
NL(CWL) All
normally ON or a fault (AL014) will display. Triggered

Setting value: 0x23

Trigger Control
DI Name DI Function Description
Method Mode
Forward inhibit limit. It should be contact “b” and Level
PL(CCWL) All
normally ON or a fault (AL015) will display. Triggered

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Chapter 8 Servo Parameters

Setting value: 0x24

Trigger Control
DI Name DI Function Description
Method Mode
Reference “Home” sensor. When ORGP is activated, Rising-edge/
ORGP the drive will command the motor to start to search Falling-edge PR
the reference “Home” sensor. [see P5-04] Triggered

Setting value: 0x27

Trigger Control
DI Name DI Function Description
Method Mode
Move to “Home”. When SHOM is activated, the drive
Rising-edge
SHOM will command the motor to move to “Home”. [see PR
Triggered
P5-04]

Setting value: 0x36

Trigger Control
DI Name DI Function Description
Method Mode
Electronic CAM function control [see P5-88]
Rising-edge/
Please note:
CAM Falling-edge PR
ASDA-A2 series L type models does not provide Triggered
Electronic Cam (E-Cam) function.

Setting value: 0x37

Trigger Control
DI Name DI Function Description
Method Mode
Forward JOG input. When JOGU is activated, the Level
JOGU All
motor will JOG in forward direction. [see P4-05] Triggered

Setting value: 0x38

Trigger Control
DI Name DI Function Description
Method Mode
Reverse JOG input. When JOGD is activated, the Level
JOGD All
motor will JOG in reverse direction. [see P4-05] Triggered

Setting value: 0x39

Trigger Control
DI Name DI Function Description
Method Mode
Rising-edge/
EV1 Event trigger command 1 [see P5-98, P5-99] Falling-edge PR
Triggered

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Chapter 8 Servo Parameters

Setting value: 0x3A

Trigger Control
DI Name DI Function Description
Method Mode
Rising-edge/
EV2 Event trigger command 2 [see P5-98, P5-99] Falling-edge PR
Triggered

Setting value: 0x3B

Trigger Control
DI Name DI Function Description
Method Mode
Event trigger command 3 [see P5-98, P5-99] Rising-edge/
EV3 (available in firmware version V1.009 and later Falling-edge PR
models) Triggered

Setting value: 0x3C

Trigger Control
DI Name DI Function Description
Method Mode
Event trigger command 4 [see P5-98, P5-99] Rising-edge/
EV4 (available in firmware version V1.009 and later Falling-edge PR
models) Triggered

Setting value: 0x43, 0x44

Trigger Control
DI Name DI Function Description
Method Mode
Electronic gear ratio (Numerator) selection 0 ~ 1 [see
P2-60 ~ P2-62]

GNUM0 Level
PT
GNUM1 Triggered

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Chapter 8 Servo Parameters

Setting value: 0x45

Trigger Control
DI Name DI Function Description
Method Mode
Pulse inhibit input. When the drive is in position
mode, if INHP is activated, the external pulse input
Level
INHP command is not valid. (Please use DI8 for INHP PT
Triggered
signal to ensure the real-time operation of INHP
function.)

NOTE

1) 11 ~ 17: Single control mode, 18 ~ 20: Dual control mode

2) When P2-10 to P2-17 is set to 0, it indicates input function is disabled.

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Chapter 8 Servo Parameters

Table 8.B Output Function Definition

Setting value: 0x01

Trigger Control
DO Name DO Function Description
Method Mode
Servo ready. SRDY is activated when the servo drive
Level
SRDY is ready to run. All fault and alarm conditions, if All
Triggered
present, have been cleared.

Setting value: 0x02

Trigger Control
DO Name DO Function Description
Method Mode
SON is activated when control power is applied the
servo drive. The drive may or may not be ready to
run as a fault / alarm condition may exist.
Servo ON (SON) is "ON" with control power applied Level
SON All
to the servo drive, there may be a fault condition or Triggered
not. The servo is not ready to run. Servo ready
(SRDY) is "ON" where the servo is ready to run, NO
fault / alarm exists.

Setting value: 0x03

Trigger Control
DO Name DO Function Description
Method Mode
ZSPD is activated when the drive senses the motor is
equal to or below the Zero Speed Range setting as
defined in parameter P1-38.
For Example, at factory default ZSPD will be Level
ZSPD All
activated when the drive detects the motor rotating Triggered
at speed at or below 10 r/min, ZSPD will remain
activated until the motor speed increases above 10
r/min.

Setting value: 0x04

Trigger Control
DO Name DO Function Description
Method Mode
TSPD is activated once the drive has detected the
motor has reached the Target Rotation Speed
Level
TSPD setting as defined in parameter P1-39. TSPD will All
Triggered
remain activated until the motor speed drops below
the Target Rotation Speed.

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Chapter 8 Servo Parameters

Setting value: 0x05

Trigger Control
DO Name DO Function Description
Method Mode
1. When the drive is in PT mode, TPOS will be
activated when the position error is equal and
below the setting value of P1-54.
Level
TPOS 2. When the drive is in PR mode, TPOS will be PT, PR
Triggered
activated when the drive detects that the position
of the motor is in a -P1-54 to +P1-54 band of the
target position.

Setting value: 0x06

Trigger Control
DO Name DO Function Description
Method Mode
TQL is activated when the drive has detected that the
All,
motor has reached the torques limits set by either Level
TQL except T,
the parameters P1-12 ~ P1-14 of via an external Triggered
Tz
analog voltage.

Setting value: 0x07

Trigger Control
DO Name DO Function Description
Method Mode
ALRM is activated when the drive has detected a fault
condition. (However, when Reverse limit error,
Level
ALRM Forward limit error, Emergency stop, Serial All
Triggered
communication error, and Undervoltage these fault
occur, WARN is activated first.)

Setting value: 0x08

Trigger Control
DO Name DO Function Description
Method Mode
Electromagnetic brake control. BRKR is activated
(Actuation of motor brake). (Please refer to
parameters P1-42 ~ P1-43)

Level
BRKR All
Triggered

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Chapter 8 Servo Parameters

Setting value: 0x09

Trigger Control
DO Name DO Function Description
Method Mode
Homing completed. HOME is activated when the
servo drive has detected that the "HOME" sensor
(ORGP, digital input 0x24) has been detected.
When power to the servo drive at the first time, this
DO signal is OFF. After homing operation is
completed, thi DO signal will be ON and continue
Level
HOME being ON when the motor is running. It becomes OFF PR
Triggered
until the sytem detect that a position overflow
occurs.
When using PR command to trigger homing
command, this DI signal will be OFF immediately.
After homeing operation is completed, it becomes
ON again.

Setting value: 0x10

Trigger Control
DO Name DO Function Description
Method Mode
Output overload warning. OLW is activated when the
servo drive has detected that the motor has reached
the output overload time set by parameter P1-56.
tOL = Permissible Time for Overload x setting value
of P1-56
When overload accumulated time (continuously
overload time) exceeds the value of tOL, the
overload warning signal will output, i.e. DO signal,
OLW will be ON. However, if the accumulated
overload time (continuous overload time) exceeds
the permissible time for overload, the overload alarm
(AL006) will occur.
For example:
If the setting value of parameter P1-56 (Output Level
OLW PR
Overload Warning Time) is 60%, when the permissible Triggered
time for overload exceeds 8 seconds at 200% rated
output, the overload fault (AL006) will be detected
and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and
the drive is continuously overloaded for 4.8 seconds,
the overload warning signal will be ON (DO code is
0x10, i.e. DO signal OLW will be activated). If the
drive is continuously overloaded for 8 seconds, the
overload alarm will be detected and shown on the
LED display (AL006). Then, Servo Fault signal will be
ON (DO signal ALRM will be activated).

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Chapter 8 Servo Parameters

Setting value: 0x11

Trigger Control
DO Name DO Function Description
Method Mode
Servo warning activated. WARN is activated when the
drive has detected Reverse limit error. Forward limit Level
WARN All
error, Emergency stop, Serial communication error, Triggered
and Undervoltage these fault conditions.

Setting value: 0x12

Trigger Control
DO Name DO Function Description
Method Mode
Position command overflow. OVF is activated when
Level
OVF the servo drive has detected that a position All
Triggered
command overflows.

Setting value: 0x13

Trigger Control
DO Name DO Function Description
Method Mode

SNL Reverse software limit. SNL is activated when the

Level
servo drive has detected that reverse software limit is All
(SCWL) Triggered
reached.

Setting value: 0x14

Trigger Control
DO Name DO Function Description
Method Mode

SPL Forward software limit. SPL is activated when the

Level
servo drive has detected that forward software limit All
(SCCWL) Triggered
is reached.

Setting value: 0x15

Trigger Control
DO Name DO Function Description
Method Mode
Internal position command completed output.
CMD_OK is activated when the servo drive has
detected that the internal position command has
been completed.
When excuting PR command, this DI signal is OFF.
After the execution of PR command is completed, Level
CMD_OK PR
this DI signal is ON. Triggered
The output is used to indicate the internal position
command has been completed and it does not
indicate that the motor positioning is completed. For
the signal of motor positioning completed, please
refer to DO signal, TPOS.

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Chapter 8 Servo Parameters

Setting value: 0x16

Trigger Control
DO Name DO Function Description
Method Mode
Capture operation completed output. CAP_OK is
Level
CAP_OK activated when the servo drive has detected that PR
Triggered
capture operation has been completed.

Setting value: 0x17

Trigger Control
DO Name DO Function Description
Method Mode
Motion control completed output. MC_OK is activated
when CMD_OK and TPOS are both ON. It indicates
MC_OK is activated only when the servo drive has Level
MC_OK PR
detected that the position command has been given Triggered
and the positioning has been completed also. If only
CMD_OK or TPOS is ON, MC_OK will not be activated.

Setting value: 0x18

Trigger Control
DO Name DO Function Description
Method Mode
CAM_AREA is activated when the servo drive has
detected the master position of E-Cam (electronic
CAM) is within the setting area. Level
CAM_AREA PR
Please note: Triggered
ASDA-A2 series L type models does not provide
Electronic Cam (E-Cam) function.

Setting value: 0x19

Trigger Control
DO Name DO Function Description
Method Mode
Speed reached output. SP_OK will be activated when
Level
SP_OK the speed error is equal and below the setting value S, Sz
Triggered
of P1-47.

Setting value: 0x30

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_0 Output the status of bit00 of P4-06. All
Triggered

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Chapter 8 Servo Parameters

Setting value: 0x31

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_1 Output the status of bit01 of P4-06. All
Triggered

Setting value: 0x32

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_2 Output the status of bit02 of P4-06. All
Triggered

Setting value: 0x33

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_3 Output the status of bit03 of P4-06. All
Triggered

Setting value: 0x34

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_4 Output the status of bit04 of P4-06. All
Triggered

Setting value: 0x35

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_5 Output the status of bit05 of P4-06. All
Triggered

Setting value: 0x36

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_6 Output the status of bit06 of P4-06. All
Triggered

Setting value: 0x37

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_7 Output the status of bit07 of P4-06. All
Triggered

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Chapter 8 Servo Parameters

Setting value: 0x38

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_8 Output the status of bit08 of P4-06. All
Triggered

Setting value: 0x39

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_9 Output the status of bit09 of P4-06. All
Triggered

Setting value: 0x3A

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_A Output the status of bit10 of P4-06. All
Triggered

Setting value: 0x3B

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_B Output the status of bit11 of P4-06. All
Triggered

Setting value: 0x3C

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_C Output the status of bit12 of P4-06. All
Triggered

Setting value: 0x3D

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_D Output the status of bit13 of P4-06. All
Triggered

Setting value: 0x3E

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_E Output the status of bit14 of P4-06. All
Triggered

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Chapter 8 Servo Parameters

Setting value: 0x3F

Trigger Control
DO Name DO Function Description
Method Mode
Level
SDO_F Output the status of bit15 of P4-06. All
Triggered

NOTE

1) When P2-18 to P2-22 is set to 0, it indicates output function is disabled.

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Chapter 9 Communications

9.1 RS-485 & RS-232 Communication Hardware Interface

The ASDA-A2 series servo drives support RS-485 and RS-232 serial communication. All
aspects of control, operation and monitoring as well as programming of the controller can be
achieved via communication. However, only one communication mode can be used at a time.
Users can select the desired communication mode via parameter P3-05.
Please refer to the following sections for connections and limitations.
RS-232

 Configuration

NOTE

1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME noise should be
kept to a minimum, communication cable should kept apart from high voltage wires. If a
transmission speed of 38400 bps or greater is required, the maximum length of the
communication cable is 3m (9.84ft.) which will ensure the correct and desired baud rate.

2) The number shown in the pervious figure indicates the terminal number of each connector.

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Chapter 9 Communications

RS-485

 Configuration

CN3 D-Sub
1394 Connector 9-Pin Connector

3 485 (+)
485 (+)
5
Servo 1 485 (-)
4 485 (-)
6

3
5
Servo 2
4
6

NOTE

1) The maximum cable length is 100m (39.37inches) when the servo drive is installed in a
location where there are only a few interferences. Please note, RFI / EME noise should be kept
to a minimum, communication cable should kept apart from high voltage wires. If a
transmission speed of 38400 bps or greater is required, the maximum length of the
communication cable is 15m (50ft.) which will ensure the correct and desired baud rate.

2) The number shown in the pervious figure indicates the terminal number of each connector.

3) The power supply should provide a +12V and higher DC voltage.

4) Please use a REPEATER if more than 32 synchronous axes are required. Maximum 254 servo
drives can be connected.

5) For the terminal identification of CN3, please refer to Section 3.5.

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Chapter 9 Communications

9.2 Communication Parameters

The following four communication parameters, P3-00 (Communication Address Setting), P3-
01 (Transmission Speed), P3-02 (Communication Protocol) and P3-05 (Communication Mode)
are essential and must be set for the communication between the master (PC, etc.) and the AC
servo drive. The other communication parameters, such as P3-03 (Transmission Fault
Treatment), P3-04 (Communication Time Out Detection), P3-06 (Digital Input Communication
Function), P3-07 (Communication Response Delay Time) and P3-08 (Monitor Mode) are for
advanced communication settings. For the descriptions of all communication parameters,
please refer to the Chapter 8.

Default: 0x7F
P3-00
Range: 0x01 ~ 0x7F
0300H
Settings (Hexadecimal):
0301H
Communication Display 0 0 Y X
Address Setting Range - - 0~7 0~F

 When using RS-232/485 and CANbus communication, this parameter P3-00 is used set
the communication address in hexadecimal format. If the AC servo drive is controlled by
RS-232/485 communication, each drive (or device) must be uniquely identified. One servo
drive only can set one address. If the address is duplicated, there will be a communication
fault. This address is an absolute address which represents the servo drive on a RS-
232/485 or CANbus network.

Default: 0x0203
P3-01 Range: 0x0000 ~ 0x0405
0302H Settings (Hexadecimal):
0303H Display 0 Z Y X
Transmission
COM Port - CAN - RS-232/485
Speed
Range 0 0~4 0 0~5

X: Baud rate setting Y: Reserved. Must be set to 0.

0: 4800 Z: Communication speed setting
1: 9600 0: 125 Kbit/s
2: 19200 1: 250 Kbit/s
3: 38400 2: 500 Kbit/s
4: 57600 3: 750 Kbit/s
5: 115200 4: 1.0 Mbit/s
Please note:
1. When setting this parameter via CANopen communication, only the
setting of Z (communication speed setting) can be set. The other
settings cannot be set.
2. The communication speed for USB is 1.0Mbit/s and cannot be
changed.

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