Delta Electronics ASDA-A2 Series User Manual page 195

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Chapter 6 Control Modes of Operation
6.5.3 Torque / Position Control Mode Selection
PT-T Mode / PR-T Mode:
The command source of PT-T mode is from external input pulse. The command source of
PR-T mode is from internal parameters (P6-00 to P7-27). The torque command can be the
external input pulse or internal parameters (P1-12 to P1-14). The torque and position
mode switching is controlled by T-P signal. The selection will be more complicated when
the position of PR-T mode and torque command are both selected through DI signal.
The timing chart of speed / position control mode selection is shown as the figure below:
In torque mode (when T-P is ON), torque command is selected by TCM0~1 and CTRG is
disabled at this time. When switching to the position mode (when T-P is OFF), the position
command is not determined (it needs to wait that CTRG is on the rising edge), so the
motor stop running. Once CTRG is on the rising edge, position command will be selected
according to POS0~5 and the motor will immediately move to the determined position.
After T-P is ON, it will immediately return to torque mode.
For the relationship between DI signal and selected command in each mode, please refer
to the introduction of single mode.
6-52
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Revision January 2011
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