ASDA-A2 Chapter 6 Control Mode of Operation
Revision February, 2017 6-49
6.5 Dual Mode
Apart from single mode, dual mode is also provided for operation. According to Section 6.1, dual
modes are as followings:
1. Speed/position dual mode (PT-S, PR-S, PT-PR)
2. Speed/torque dual mode (S-T)
3. Torque/position dual mode (PT-T, PR-T)
4. Position speed multi mode (PT-PR-S)
5. Position torque multi mode (PT-PR-T)
Mode Name Short
Name
Setting
Code
Description
Dual Mode
PT-S 06 PT and S can be switched via DI signal, S_P.
PT-T 07 PT and T can be switched via DI signal, T_P.
PR-S 08 PR and S can be switched via DI signal, S_P.
PR-T 09 PR and T can be switched via DI signal, T_P.
S-T 0A S and T can be switched via DI signal, S_T.
PT-PR 0D PT and PR can be switched via DI signal, PT_PR.
Multiple Mode
PT-PR-S 0E PT , PR and S can be switched via DI signal, S_P and PT_PR.
PT-PR-T 0F PT , PR and T can be switched via DI signal, T_P and PT_PR.
Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputs in dual
mode, speed and torque mode can use external analog voltage as the command source so as to
reduce digital input (SPD0, SPD1 or TCM0, TCM1). Please refer to Chapter 3.3.2, table 3.1,
Default Value of DI Input Function and table 3.2, Default Value of DO Output Function for the
default DI/DO of each mode.
The relationship between DI/DO signals and PIN define are set after the mode is selected. If users
desire to change the setting, please refer to Chapter 3.3.4.
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