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

Control Mode

6.5.3 Torque / Position dual mode

Torque / Position dual mode includes PT-T and PR-T. The command source for PT-T comes
from the external pulse while the source for PR-T comes from the internal parameters (P6.000 -
6
P7.099). You can control the Torque command with 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 for Position mode is controlled by DI.PT-PR
(0x2B). The following timing diagram illustrates the PR-T mode. The switch between Position
and Torque commands in PR-T mode is controlled by DI signals.
CTRG
T-P
In Torque mode (DI.T-P is off), you select the Torque command with DI.TCM0 and DI.TCM1,
and DI.CTRG is not applicable. When the drive switches to Position mode (DI.T-P is off), 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, the drive returns to the Torque mode. Refer to the
introduction of single mode for the DI signals and the selected commands.
6-32
OFF
POS0 - 6 invalid
TCM0 - 1 valid
Torque mode
Figure 6.5.3.1 Torque / Position dual mode
ON
POS0 - 6 valid
TCM0 - 1 invalid
Position mode
ASDA-B3
OFF
POS0 - 6 invalid
TCM0 - 1 valid
Torque mode