Delta ASDA-A3 Series User Manual page 288

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YX: control mode setting

PT: Position control mode; the command source is from the external pulse and the external analog

voltage (*coming soon).

PR: Position control mode; the command source is from the 64 sets of internal registers which you can

select with DI.POS0 – DI.POS6. Multiple homing methods are also available.

S: Speed control mode; the command source is from the external analog voltage and the internal

T: Torque control mode; the command source is from the external analog voltage and the internal

Sz: Speed control mode; the command source is from the zero speed and the internal speed register

which you can select with DI.SPD0 and DI.SPD1.

Tz: Torque control mode; the command source is from the zero torque and the internal torque register

which you can select with DI.TCM0 and DI.TCM1.

Dual mode: you can switch the mode with external DI. For example, you can use DI.S-P to switch the

dual mode of PT/S (control mode setting: 06). Please refer to Table 8.1 for further information.

Multi-mode: you can switch the mode with external DI. For example, you can use DI.S-P and PT-PR to

switch the multi-mode for PT/PR/S (control mode setting: 12). Please refer to Table 8.1 for further

information.

CANopen mode: the command source is from the external fieldbus controller, which sends the

command to the servo drive through direct communication.

Revision December, 2017

CANopen mode

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