Dual Mode - Delta ASD-A2R-0221 Series User Manual

6.5 Dual Mode

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, PR-S, PT-PR)
2 ）
Speed/torque (force) dual mode (S-T)
3 ）
Torque (force)/position dual mode (PT-T, PR-T)
4 ）
Position speed multi mode (PT-PR-S)
5 ）
Position torque (force) multi mode (PT-PR-T)
Mode Short Name Setting
Name
PT-S
PT-T
PR-S
Dual Mode
PR-T
S-T
PT-PR
Multi Mode PT-PR-S
PT-PR-T
Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputs
in dual mode, speed and torque (force) mode can use external analog voltage as the
command source so as to reduce digital input (SPD0, SPD1 or TCM0, TCM1). Position
mode could use input pulse of PT mode to save the use of DI (POS0, 1, 2, 3, 4, 5). 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.
Revision December, 2014
Chapter 6 Control Mode of Operation ASDA-A2R Series
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 .
08 PR and S can be switched via DI signal, S_P .
09 PR and T can be switched via DI signal, T_P .
0A S and T can be switched via DI signal, S_T .
PT and PR can be switched via DI signal, PT_PR .
0D
0E PT , PR and S can be switched via DI signal, S_P
and PT_PR .
0F PT , PR and T can be switched via DI signal, T_P
and PT_PR .
Description
6-35