ASDA-A2 Chapter 6 Control Mode of Operation
Revision February, 2017 6-51
motor operates according to the speed command. When S-T is ON, it goes back to the torque
mode again. Please refer to the introduction of single mode for DI signal and the selected
command of each mode.
6.5.3 Torque / Position Dual Mode
There are PT-T and PR-T 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).
Torque command could be issued by external analog voltage or internal parameters (P1-12~P1-
14). The switch of torque/position mode is controlled by T-P signal and the switch of PR-T mode is
controlled by DI signal, which is more complicated. The timing diagram is shown as below.
In torque mode (T-P is ON), the torque command is selected via TCM0 and TCM1. CTRG is not
working at the moment. When switching to position mode (T-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 T-P is ON,
it goes back to torque mode again. Please refer to the introduction of single mode for DI signal and
the selected command of each mode.
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