Torque / Position Control Mode Selection - Delta Electronics ASDA-A Series User Manual

ASDA-A User Manual

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 (P1-15 to P1-30). 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:
POS0-2 NOT CARE
TCM0-1 VALID
Torque control mode
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 POS0~2 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.
© DELTA ELECTRONICS, INC. ALL RIGHTS RESERVED
CTRG CTRG
T-P
POS0-2 VALID
TCM0~1 NOT CARE
Position control mode
Figure 3. : Torque / Position Control Mode Selection
Chapter 6 Control Modes of Operation
POS0-2 NOT CARE
6-37
TCM0-1 VALID
Torque control mode
4th Edition 2005/11/30, HE03