Delta ASDA-A2 Series User Manual page 563

Chapter 8 Servo Parameters
Setting value: 0x16 ~ 0x17
DI
Name
Torque command selection 0 ~ 1 (Command T1 ~ T4)
Command
No.
TCM0
T1
TCM1
T2
T3
T4
Setting value: 0x18
DI Name
Speed / Position mode switching.
S-P
OFF: Speed mode, ON: Position mode
Setting value: 0x19
DI Name
Speed / Torque mode switching.
S-T
OFF: Speed mode, ON: Torque mode
Setting value: 0x20
DI Name
Torque / Position mode switching.
T-P
OFF: Torque mode, ON: Position mode
Setting value: 0x21
DI Name
Emergency stop. It should be contact "b" and
EMGS
normally ON or a fault (AL013) will display.
8-286
DI Function Description
DI signal of
CN1
Command Source
TCM1 TCM0
T
OFF OFF
Tz None
OFF ON
Internal
ON OFF
parameter
ON ON
DI Function Description
DI Function Description
DI Function Description
DI Function Description
Content
Voltage
Analog between V-
command REF and
GND
Torque
command is
0
P1-12
P1-13
P1-14
ASDA-
Trigger Control
Method
Range
+/-10
V
Level
Triggered
0
-300
~
+300
%
Trigger Control
Method
Level
Triggered
Trigger Control
Method
Level
Triggered
Trigger Control
Method
Level
Triggered
Trigger Control
Method
Level
Triggered
Revision September 2012
A2
Mode
T
Mode
P, S
Mode
S, T
Mode
P, T
Mode
All