Speed / Position Dual Mode; Speed / Torque Dual Mode - Delta ASD-A2-0121 Series User Manual

Chapter 6 Control Mode of Operation

6.5.1 Speed / Position Dual Mode

There are PT-S and PR-S 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).
Speed command could be issued by external analog voltage or internal parameters
(P1-09 ~ P1-11). The switch of speed/position mode is controlled by S-P signal and the switch of
PR-S mode is controlled by DI signal, which is more complicated. The timing diagram is shown as
below.
CTRG
S-P
POS0 ~ 6 invalid
SPD0 ~ 1 valid
Speed mode
In speed mode (S-P is ON), the speed command is selected via SPD0 and SPD1. CTRG is not
working at the moment. When switching to position mode (S-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, and the motor
moves towards that position immediately. When S-P is ON, it goes back to speed mode again.
Please refer to the introduction of single mode for DI signal and the selected command of each
mode.

6.5.2 Speed / Torque Dual Mode

S-T is the only mode. The speed command comes from the external analog voltage and internal
parameters (P1-09 ~ P1-11), which is selected via SPD0 ~ SPD1. Similarly, the source of torque
command could be external analog voltage and internal parameters (P1-12 ～ P1-14) and is
selected via TCM0 ~ TCM1. The switch of speed/torque mode is controlled by S-T signal.
The timing diagram is shown as below.
S-T
SPD0 ~ 1 invalid
TCM0 ~ 1 valid
Torque mode
6-54
ON
ON
OFF
POS0 ~ 6 valid
SPD0 ~ 1 invalid
Position mode
OFF
SPD0 ~ 1 valid
TCM0 ~ 1 invalid
Speed mode
ASDA-A2
ON
POS0 ~ 6 invalid
SPD0 ~ 1 valid
Speed mode
ON
SPD0 ~ 1 invalid
TCM0 ~ 1 valid
Torque mode