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

Chapter 6 Control Modes of Operation ASDA-B2

6.5.2 Speed / Torque Dual Mode

S-T is the only mode. The speed command comes from the external analog voltage and
internal parameters (P1-09 ~ P1-11), which is selected via SPD0 ~ SPD1. Similarly, the
source of torque command could be external analog voltage and internal parameters
(P1-12 ~ P1-14) and is selected via TCM0 ~ TCM1. The switch of speed / torque mode is
controlled by S-T signal. The timing diagram is shown as below.
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When
switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and
SPD 1. The motor operates according to the speed command. When S-T is ON, it goes
back to the torque mode again. Please refer to the introduction of single mode for DI signal
and the selected command of each mode.

6.5.3 Torque / Position Dual Mode

The command source of PT-T mode is from external pulse. Torque command can be
issued by the external analog voltage or internal parameters (P1-12 to P1-14). The switch
of torque and position mode is controlled by T-P signal.
The timing diagram is shown as below:
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Revision May, 2018