Delta ASD-A2-0121 Series User Manual page 341

Chapter 8 Parameters
8-42
PT: Position control mode; the command source is from the
external pulse and the external analog voltage.
PR: Position control mode; the command source is from the 64
sets of internal registers which you can select with DI.POS0
– DI.POS5. Multiple homing methods are also available.
S: Speed control mode; the command source is from the external
analog voltage and the internal register which you can select
with DI.SPD0 and DI.SPD1.
T: Torque control mode; the command source is from the
external analog voltage and the internal register which you
can select with DI.TCM0 and DI.TCM1.
Sz: Speed control mode; the command source is from the zero
speed and the internal speed register
Tz: Torque control mode; the command source is from the zero
torque and the internal torque register
Dual Mode: It can switch mode via the external Digital Input (DI).
For example, if it is set to the dual mode of PT/S
(Control mode setting: 06), the mode can be
switched via DI. S-P (Please refer to table 8.1).
Multiple Mode: It can switch mode via the external Digital Input
Torque Output Direction Settings

Forward
Reverse
Digital Input / Digital Output (DIO) Setting

0: When switching mode, DIO (P2-10 ~ P2-22) remains the
original setting value and will not be changed.
1: When switching mode, DIO (P2-10 ~ P2-22) can be reset to the
default value of each operational mode automatically.
(DI). For example, if it is set to multiple mode of
PT/PR/S (Control Mode Setting: 12), the mode
can be switched via DI. S-P, PT-PR (Please refer
to table 8.1).
0
ASDA-A2
1