Delta ASDA-A3 Series User Manual page 623

Parameters
Sz: Speed control mode; the speed command is zero or the command source is from the internal
speed registers, which you can select with DI.SPD0 and DI.SPD1.
Tz: Torque control mode; the torque command is zero or the command source is from the internal
torque registers, which you can select with DI.TCM0 and DI.TCM1.
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Dual mode: you can switch between two modes with the external DI. For example, you can use
Multi-mode: you can switch between three modes with the external DI. For example, you can use
Communication mode: the command source is from the external fieldbus controller, which sends the
Note: if the command source is the external analog voltage, make sure to connect the voltage source properly to
avoid floating connection causing misoperation.

Z: direction control
Positive direction
Negative direction

U: DIO value control (volatile)
0: when modes are switched, DIO settings remain the same.
1: when modes are switched, DIO settings are reset to the default for each mode.
Note: the default DIO settings of each mode varies based on the servo drive model. For A3-L and A3-M
models, refer to Section 3.4.1.1. For A3-F and A3-E models, refer to Section 3.4.2.1.
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DI.S-P to switch the dual mode of PT-S (control mode setting: 06). Refer to Table 8.1 for
further information.
DI.S-P and DI.PT-PR to switch the multi-mode of PT-PR-S (control mode setting: 0E).
Refer to Table 8.1 for further information.
command to the servo drive through direct communication.
Z = 0
P(CCW)
ASDA-A3
Z = 1