Torque / Position Control Mode Selection - Delta ASDA-A2 Series User Manual

Chapter 6 Control Modes of Operation|ASDA-A2 Series

6.5.3 Torque / Position Control Mode Selection

Pt-T Mode / Pr-T Mode:
The command source of Pt-T mode is from external input pulse. The command source of Pr-T mode
is from internal parameters (P6-00 to P7-27). The torque command can be the external input pulse or
internal parameters (P1-12 to P1-14). The torque and position mode switching is controlled by T-P
signal. The selection will be more complicated when the position of Pr-T mode and torque command
are both selected through DI signal.
The timing chart of speed / position control mode selection is shown as the figure below:
In torque mode (when T-P is ON), torque command is selected by TCM0~1 and CTRG is disabled at
this time. When switching to the position mode (when T-P is OFF), the position command is not
determined (it needs to wait that CTRG is on the rising edge), so the motor stop running. Once CTRG
is on the rising edge, position command will be selected according to POS0~5 and the motor will
immediately move to the determined position. After T-P is ON, it will immediately return to torque
mode.
For the relationship between DI signal and selected command in each mode, please refer to the
introduction of single mode.
6-50
Revision April,2010