Speed / Torque Control Mode Selection; Torque / Position Control Mode Selection - Delta Electronics ASDA-B Series User Manual

Chapter 6 Control Modes of Operation|ASDA-B Series

6.5.2 Speed / Torque Control Mode Selection

S-T Mode:
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and
SPD0~1 is used to select speed command. The same as speed command, the torque command can be
the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select
torque command. The speed and torque mode switching is controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure below:
S-T
ON
NOT CARE
Torque source is determined
by TCM0~1
Torque Mode
In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the
speed mode (when S-T is OFF), the speed command is selected by SPD0~1, and then the motor will
immediately rotate following the command. After S-T is ON again, it will immediately return to torque
mode.

6.5.3 Torque / Position Control Mode Selection

T-P Mode:
The command source of T-P mode is from external input pulse. The torque command can be the
external analog voltage or internal parameters (P1-12 to P1-14). The torque and position mode
switching is controlled by the T-P signal.
The timing chart of speed / position control mode selection is shown as the figure below:
T-P
NOT CARE
In position mode (when T-P is ON), the motor will start to count pulse and operate following the external
pulse command. When switching to the torque mode (when T-P is OFF), it will stop counting pulse even
if the pulse command is continuously sent out. The torque command is determined by TCM0~1 and the
motor will rotate following the command. After T-P is ON again, it will immediately return to position
mode.
6-30
Speed source is determined
ON
Torque source is determined
Counting Pulse
Position Mode
OFF
by SPD0~1
Torque source is determined
NOT CARE
Speed Mode
OFF
by TCM0~1
Stop Counting Pulse
Torque Mode
ON
NOT CARE
by TCM0~1
Torque Mode
ON
NOT CARE
Counting Pulse
Position Mode
Revision January, 2009