Dual Mode - Delta ASDA-A3 Series User Manual

Operation Mode

6.5 Dual mode

Apart from the single mode for position, speed, and torque, there are also eight dual / multiple
modes available for operation (see Section 6.1).
6
Mode

Dual mode

Multi-mode
Sz and Tz dual mode is not supported. To avoid occupying too many digital inputs in dual mode,
Speed and Torque modes can use the external analog voltage as the command source to
reduce the use of DI points (SPD0, SPD1 or TCM0, TCM1). In addition, Position mode can use
the pulse input to reduce the use of DI points (POS0, POS1, POS2, POS3, POS4, POS5, and
POS6). Refer to Section 3.3.2 for the table of DI/O default value in each mode.
If you want to change the settings, the DI/O signals in correspondence with the pins are defined
as above in Section 3.3.4.
6-30
Short
Code
name
PT-S 06 PT and S can be switched with DI signal, S_P.
PT-T 07 PT and T can be switched with DI signal, T_P.
PR-S 08 PR and S can be switched with DI signal, S_P.
PR-T 09 PR and T can be switched with DI signal, T_P.
S-T 0A S and T can be switched with DI signal, S_T.
PT-PR 0D PT and PR can be switched with DI signal, PT_PR.
PT-PR-S 0E PT, PR, and S can be switched with DI signals, S_P and PT_PR.
PT-PR-T 0F PT, PR, and T can be switched with DI signals, T_P and PT_PR.
Description
ASDA-A3