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

Control Mode

6.5.1 Speed / Position dual mode

Speed / Position dual mode includes PT-S and PR-S. The command source for PT-S comes
from the external pulse while the source for PR-S comes from the internal parameters (P6.000 -
6
P7.099). You can control the Speed command with the external analog voltage or the internal
parameters (P1.009 - P1.011). The switch between Speed and Position modes is controlled by
DI.S-P (0x18). The switch between PT and PR for Position mode is controlled by DI.PT-PR
(0x2B). The following timing diagram illustrates the PR-S mode. The switch between Position
and Speed commands in PR-S mode is controlled by DI signals.
CTRG
S-P
In Speed mode (DI.S-P is off), you select the Speed command with DI.SPD0 and DI.SPD1, and
DI.CTRG is not applicable. When the drive switches to Position mode (DI.S-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.S-P is off, the drive returns to the Speed mode. Refer to the
introduction of single mode for the DI signals and the selected commands.
6-30
OFF
POS0 - 6 invalid
SPD0 - 1 valid
Speed mode
Figure 6.5.1.1 Speed / Position dual mode
ON
POS0 - 6 valid
SPD0 - 1 invalid
Position mode
ASDA-B3
OFF
POS0 - 6 invalid
SPD0 - 1 valid
Speed mode