Speed / Position Dual Mode - Delta ASDA-B3 Series User Manual

ASDA-B3

6.5.1 Speed / Position dual mode

Speed / Position dual mode includes PT-S and PR-S. The command source for PT-S 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 between Speed and Position modes is controlled by
the 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 as follows.
CTRG
S-P
POS0 - 6 invalid
SPD0 - 1 valid
Speed mode
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 (indicated
by △ in the figure above). When the Position command is controlled by DI.POS0 - DI.POS6 and
triggered by the rising edge of DI.CTRG, the motor operates to the specified position. When
DI.S-P is on, it returns to the Speed mode. Refer to the introduction of single mode for the DI
signal and the selected commands for each mode.
ON
OFF
POS0 - 6 valid
SPD0 - 1 invalid
Position mode
Operation Mode
ON
POS0 - 6 invalid
SPD0 - 1 valid
Speed mode
6
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