Chapter 6 Control Modes Of Operation; Control Modes Of Operation - Delta ASDA-A2 Series User Manual

6.1

Control Modes of Operation

The Delta ASDA-A2 series can be programmed to provide six single, eight dual modes and two multiple
modes of operation. Their operation and description is listed in the following table.
Mode
External Position
Control
Internal Position Control
Speed Control
Single
Mode
Internal Speed Control
Torque Control
Internal Torque Control
Dual Mode
Revision April, 2010

Chapter 6 Control Modes of Operation

Mode Code
Position control for the servo motor is achieved via an
Pt 00
external pulse command.
Position control for the servo motor is achieved via by
internal position commands stored within the servo
Pr 01
controller. Execution of the 64 positions is via Digital
Input (DI) signals.
Speed control for the servo motor can be achieved
via parameters set within the controller or from an
external analog -10 ~ +10 Vdc command. Control of
S 02
the internal speed parameters is via the Digital Inputs
(DI). (A maximum of three speeds can be stored
internally).
Speed control for the servo motor is only achieved
via parameters set within the controller. Control of the
Sz 04 internal speed parameters is via the Digital Inputs
(DI). (A maximum of three speeds can be stored
internally).
Torque control for the servo motor can be achieved
via parameters set within the controller or from an
external analog -10 ~ +10 Vdc command. Control of
T 03
the internal torque parameters is via the Digital Inputs
(DI). (A maximum of three torque levels can be
stored internally).
Torque control for the servo motor is only achieved
via parameters set within the controller. Control of the
Tz 05 internal torque parameters is via the Digital Inputs
(DI). (A maximum of three torque levels can be
stored internally).
Either Pt or S control mode can be selected via the
Pt-S 06
Digital Inputs (DI)
Either Pt or T control mode can be selected via the
Pt-T 07
Digital Inputs (DI).
Either Pr or S control mode can be selected via the
Pr-S 08
Digital Inputs (DI).
Either Pr or T control mode can be selected via the
Pr-T 09
Digital Inputs (DI).
Either S or T control mode can be selected via the
S-T 0A
Digital Inputs (DI).
CANopen communication control is achieved via the
CANopen 0B
commands from the host (external) controller.
Reserved 0C Reserved
Description
6-1