Delta ASD-A2-4523 Series - Speed; Position Dual Mode; Speed; Torque Dual Mode

Chapter 6 Control Mode of Operation ASDA-A2
6-50 Revision February, 2017
6.5.1 Speed / Position Dual Mode
There are PT-S and PR-S in speed/position dual mode. The command source of the former one
comes from external pulse while the latter one comes from internal parameters (P6-00~P7-27).
Speed command could be issued by external analog voltage or internal parameters (P1-09~P1-11).
The switch of speed/position mode is controlled by S-P signal and the switch of PR-S mode is
controlled by DI signal, which is more complicated. The timing diagram is shown as below.
In speed mode (S-P is ON), the speed command is selected via SPD0 and SPD1. CTRG is not
working at the moment. When switching to position mode (S-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 S-P is ON,
it goes back to speed mode again. Please refer to the introduction of single mode for DI signal and
the selected command of each mode.
6.5.2 Speed / Torque Dual Mode
S-T is the only mode. The speed command comes from the external analog voltage and internal
parameters (P1-09 ~P1-11), which is selected via SPD0~SPD1. Similarly, the source of torque
command could be external analog voltage and internal parameters (P1-12 ～ P1-14) and is
selected via TCM0~TCM1. The switch of speed/torque mode is controlled by S-T signal. The
timing diagram is shown as below.
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When
switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and SPD 1. The
C
TR
G
S-P
POS0-2 NOT CARE
POS0-2 NOT CARE
POS0-2 VALID
SPD0-1 VALID
SPD0~1 NOT CARE SPD0-1 VALID
Speed control mode
Position control mode
Speed control mode
Fi
g
ure 1. : Speed / Position Control Mode Selectio
n
S-T
NOT CARE
NOT CARE
SPD0-1 VALID
TCM0-1 VALID
NOT CARE
TCM0-1 VALID
Torque control mode
Speed control mode
Torque control mode
Fi
g
ure 2. : Speed / Torque Control Mode Selectio
n