Delta ASDA-A2 Series User Manual page 341

Chapter 8 Servo Parameters
A: Control mode settings
00
01
02
03
04
05
0E
0F
PT: Position control mode. The command is from external pulse or analog
voltage (external analog voltage will be available soon).
PR: Position control mode. The command is from internal signal. Execution of
64 positions is via DI signals (POS0 ~ POS5). A variety of homing control is
also provided.
S: Speed control mode. The command is from external signal or internal signal.
Execution of the command selection is via DI signals, SPD0 and SPD1.
T: Torque control mode. The command is from external signal or internal
signal. Execution of the command selection is via DI signals, TCM0 and
TCM1.
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command
Dual Mode: Control of the mode selection is via DI signals. For example, either
Multiple Mode: Control of the mode selection is via DI signals. For example,
B: Torque output direction settings
Direction
Forward
Reverse
C: Discrete I/O Setting
1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can
be reset to be the default value of the mode you switch to.
0: When switching to different mode, the setting value of digital inputs/outputs
(P2-10 ~ P2-22) will remain the same and will not be changed.
8-64
PT PR S T Sz Tz
Single Mode
▲
▲
▲
▲
▲
Multiple Mode
▲ ▲ ▲
▲ ▲ ▲
PT or S control mode can be selected via DI signal, S-P (see Table
8.A).
either PT or PR or S control mode can be selected via DI signals,
S-P and PT-PR (see Table 8.A).
0
PT
06
▲
07
▲
08
09
0A
▲
0B
0C
0D
▲
1
PR S T Sz Tz
Dual Mode
▲
▲
▲
▲
▲ ▲
▲ ▲
CANopen Mode
Reserved
▲
Revision September 2012
A2
ASDA-