Dual Modes; Speed / Position Dual Mode - Delta ASD-B2-1521-F User Manual

ASDA-B2

6.5 Dual Modes

Apart from single mode, dual mode is also provided for operation. According to Section 6.1,
dual modes are as followings:
(1) Speed / Position dual mode (PT-S)
(2) Speed / Torque dual mode (S-T)
(3) Torque / Position dual mode (PT-T)
Mode Short
Name Name
PT-S
Dual Mode PT-T
S-T
Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputs
in dual mode, speed and torque mode can use external analog voltage as the command
source so as to reduce digital input (SPD0, SPD1 or TCM0, TCM1). Please refer to
Chapter 3.3.2, table 3.1, Default Value of DI Input Function and table 3.2, Default Value of
DO Output Function for the default DI / DO of each mode.
The relationship between DI/DO signals and PIN define are set after the mode is selected.
If users desire to change the setting, please refer to Chapter 3.3.4.

6.5.1 Speed / Position Dual Mode

The command source of PT-S mode is from external pulse. Speed command can be
issued by the external analog voltage or internal parameters (P1-09 to P1-11). The switch
of speed and position mode is controlled by the S-P signal. The timing diagram is shown
as below:
Revision May, 2018
Setting
Code
06 PT and S can be switched via DI signal, S_P.
07 PT and T can be switched via DI signal, T_P.
0A S and T can be switched via DI signal, S_T.
Chapter 6 Control Modes of Operation
Description
6-41