Control Modes Selection; Speed / Position Control Mode Selection - Delta ASDA-A2 Series User Manual

Chapter 6 Control Modes of Operation|ASDA-A2 Series
6.5

Control Modes Selection

Except signal control mode operation, ASDA-A2 series servo drives also provide many dual and multiple
modes for the users to select.
1） Speed / Position mode selection: Pt-S, Pr-S, Pt-Pr
2） Speed / Torque mode selection: S-T
3） Torque / Position mode selection: Pt-T, Pr-T
4） Position / Speed multiple mode selection: Pt-Pr-S
5） Position / Torque multiple mode selection: Pt-Pr-T
Mode Name
Pt-S
Pt-T
Pr-S
Dual Mode
Pr-T
S-T
Pt-Pr
Pt-Pr-S
Multiple Mode
Pt-Pr-T
Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs, we recommend that
the users can use external analog signal as input command in speed and torque mode to reduce the use
of DI inputs (SPD0~1 or TCM0~1). In position mode, we recommend that the users can use Pt mode to
input pulse to reduce the use of DI inputs (POS0~5).
Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number of DI/DO signal.

6.5.1 Speed / Position Control Mode Selection

Pt-S Mode / Pr-S Mode:
The command source of Pt-S mode is from external input pulse. The command source of Pr-S mode
is from internal parameters (P6-00 to P7-27). The speed command can be the external analog voltage
or internal parameters (P1-09 to P1-11). The speed and position mode switching is controlled by the
S-P signal. The selection will be more complicated when the position of Pr-S mode and speed
command are both selected through DI signal.
6-48
Code
06 Either Pt or S control mode can be selected via the Digital Inputs (DI)
07 Either Pt or T control mode can be selected via the Digital Inputs (DI)
08 Either Pr or S control mode can be selected via the Digital Inputs (DI)
09 Either Pr or T control mode can be selected via the Digital Inputs (DI)
0A Either S or T control mode can be selected via the Digital Inputs (DI)
Either Pt or Pr control mode can be selected via the Digital Inputs
0D
(DI).
Either Pt or Pr or S control mode can be selected via the Digital
0E
Inputs (DI).
Either Pt or Pr or T control mode can be selected via the Digital
0F
Inputs (DI).
Description
Revision April,2010