Torque／Position Dual Mode - Delta ASDA-M Series User Manual

Chapter 6 Control Mode of Operation
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When
switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and
SPD 1. The motor operates according to the speed command. When S-T is ON, it goes
back to the torque mode again. Please refer to the introduction of single mode for DI
signal and the selected command of each mode.
6.5.3 Torque／Position Dual Mode
There are PT-T and PR-T in speed/position dual mode. The command source of the
former one comes from external pulse while the latter one comes from internal
parameters (P6-00~P7-27). Torque command could be issued by external analog voltage
or internal parameters (P1-12~P1-14). The switch of torque/position mode is controlled
by T-P signal and the switch of PR-T mode is controlled by DI signal, which is more
complicated. The timing diagram is shown as below.
In torque mode (T-P is ON), the torque command is selected via TCM0 and TCM1.
CTRG is not working at the moment. When switching to position mode (T-P is OFF),
since position command has not been issued (needs to wait the rising edge of CTRG),
the motor stops. The position command is determined by POS0~POS5 and triggered by
rising edge of CTRG. When T-P is ON, it goes back to torque mode again. Please refer
to the introduction of single mode for DI signal and the selected command of each mode.
6-54
Diagram 2: Dual control mode of speed and torque
Diagram 3: Dual control mode of torque and position
ASDA-M
Revision December, 2014