Torque (Force) / Position Dual Mode - Delta ASD-A2R-0221 Series User Manual

Chapter 6 Control Mode of Operation ASDA-A2R Series
When S-T is ON, it goes back to the torque (force) mode again. Please refer to the
introduction of single mode for DI signal and the selected command of each mode.
6.5.3 Torque (force) ／Position Dual Mode
There are PT-T and PR-T. The command source of the former one comes from external
pulse while the latter one comes from internal parameters (P6-00~P7-27). Torque (force)
command could be issued by external analog voltage or internal parameters
(P1-12~P1-14). The switch of torque (force)/position mode is controlled by T-P signal and
the switch of PR-T mode is controlled by DI signal, which is more complicated. The timing
diagram is shown as below.
Diagram 3: Dual control mode of torque and position
In torque (force) mode (T-P is ON), the torque (force) command is selected via TCM0 and
TCM1. CTRG is not working at the moment. When switching to position mode (T-P is
OFF), since position command has not been issued (needs to wait the rising edge of
CTRG), the motor stops. The position command is determined by POS0~POS5 and
triggered by rising edge of CTRG. When T-P is ON, it goes back to torque (force) mode
again. Please refer to the introduction of single mode for DI signal and the selected
command of each mode.
Revision December, 2014 6-37