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

ASDA-B3 Operation Mode

6.5.3 Torque / Position dual mode

Torque / Position dual mode includes PT-T and PR-T. The command source for PT-T comes
from the external pulse while the source for PR-T comes from internal parameters (P6.000 -
6
P7.027). You control the Torque command with the external analog voltage or the internal
parameters (P1.012 - P1.014). The switch between Torque and Position modes is controlled by
the DI.T-P (0x20) signal. The switch for PT and PR for Position mode is controlled by the
DI.PT-PR (0x2B) signal. Thus, you select both Position and Torque commands in PR-T mode
with the DI signal. The timing diagram is shown as follows.
CTRG
ON
OFF
S-P
ON
POS0 - 6 invalid POS0 - 6 valid POS0 - 6 invalid
TCM0 - 1 valid TCM0 - 1 invalid TCM0 - 1 valid
Torque mode Position mode Torque mode
In Torque mode (DI.T-P is on), you select the Torque command with DI.TCM0 and DI.TCM1.
DI.CTRG is not applicable. When switching to Position mode (DI.T-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.T-P is on, it returns to the Torque mode. Refer to the introduction of single
mode for the DI signal and the selected commands for each mode.
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