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

ASDA-A2 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 SPD1.
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.
CTRG
ON
OFF
S-P
ON
POS0 ~ 6 invalid POS0 ~ 6 invalid
POS0 ~ 6 valid
TCM0 ~ 1 valid TCM0 ~ 1 invalid TCM0 ~ 1 valid
Position mode Torque mode
Torque mode
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, and the motor
moves towards that position immediately. 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.
6-55