ASDA A2-E Chapter 2 System Setup
2-2 Revision April, 2015
PR: Position control mode. The command is from the internal signal. Execution of 64 positions
is via DI.POS0 ~ POS5. A variety of homing control is also provided.
S: Speed control mode. The command is from the external signal or internal signal. Execution
of the command selection is via DI.SPD0 and DI.SPD1.
T: Torque control mode. The command is from the external signal or internal signal. Execution
of the command selection is via DI.TCM0 and DI.TCM1.
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command
Dual Mode: The control mode selection is via DI signals. For example, either PT or S control
mode can be selected via DI signal, S-P (see Table A).
Multiple Mode: The control mode selection is via DI signals. For example, PT, PR or S control
mode can be selected via DI signals, S-P and PT-PR (see Table A).
Torque output direction settings
Direction 0 1
Forward
Reverse
Discrete I/O Setting
1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) will be set to the
default value according to the mode you selected.
0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22)
will remain the same and will not be changed.
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