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

ASDA-A3 Operation Mode

6.5.3 Torque / Position dual mode

Torque / Position dual mode includes PT-T and PR-T. The command source for the Position
command of PT-T comes from the external pulse while the source for the Position command of
6
PR-T comes from internal parameters (P6 - P7). The command source for Torque command can
be the external analog voltage or the internal parameters (P1.012 - P1.014). The switch
between Torque and Position modes is controlled by DI.T-P (0x20). The switch between PT and
PR of Position mode is controlled by DI.PT-PR (0x2B). The following timing diagram illustrates
the PR-T mode. Position and Torque commands in PR-T mode are switched with DI signals.
CTRG
OFF
ON
T-P
OFF
POS0 - 6 invalid POS0 - 6 invalid
POS0 - 6 valid
TCM0 - 1 valid TCM0 - 1 invalid TCM0 - 1 valid
Torque mode Position mode Torque mode
Figure 6.5.3.1 Torque / Position dual mode
In Torque mode (DI.T-P is off), you select the Torque command with DI.TCM0 and DI.TCM1.
DI.CTRG is invalid in this mode. When the mode is switched to Position mode (DI.T-P is on),
since the Position command has not been issued (it waits for the rising edge of DI.CTRG),
the motor stops (indicated by △ in the preceding figure). The Position command is selected with
DI.POS0 - DI.POS6 when the rising edge of DI.CTRG is triggered, and then the motor operates
to the specified position. When DI.T-P is off, it returns to Torque mode. Refer to the introduction
of single mode for the DI signal and the selected commands for each mode.
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