Speed / Position Dual Mode - Delta ASDA-A3 Series User Manual

Operation Mode
6.5.1
PT-S and PR-S are available in Speed / Position dual mode. The command source for PT-S
6 comes from the external pulse while the source for PR-S comes from the internal parameters
(P6.000 – P7.027). You can control the Speed command with the external analog voltage or the
internal parameters (P1.009 – P1.011). The switch for Speed / Position mode is controlled by
DI.S-P (0x18) signal. The switch for PT and PR for Position mode is controlled by DI.PT-PR
(0x2B). Thus, you select both Position and Speed commands in PR-S mode with the DI signal.
The timing diagram is shown below.
In Speed mode (DI.S-P is on), you select the Speed command with DI.SPD0 and DI.SPD1.
DI.CTRG is not applicable. When switching to Position mode (DI.S-P is off), since the Position
command has not been issued (it waits for the rising edge of DI.CTRG), the motor stops. The
Position command is controlled by DI.POS0–DI.POS6 and triggered by the rising edge of
DI.CTRG. When DI.S-P is on, it returns to Speed mode. Please refer to the introduction of single
mode for the DI signal and the selected commands for each mode.
6-30

Speed / Position dual mode

CTRG
S-P
POS0 ~ 6 valid
SPD0 ~ 1 valid
Speed mode
Figure 6.5.1.1 Speed / Position dual mode
POS0 ~ 6 invalid
SPD0 ~ 1 invalid
Position mode
ASDA-A3
SPD0 ~ 1 valid
Speed mode
Revision December, 2017