Chapter 6 Control Modes of Operation|ASDA-A&A+ Series
6-36 Revision April 2009
In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this
time. When switching to the position mode (when S-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 S-P is ON, it will immediately return to speed mode.
For the relationship between DI signal and selected command in each mode, please refer to the
introduction of single mode.
6.5.2 Speed / Torque Control Mode Selection
S-T Mode:
The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and
SPD0~1 is used to select speed command. The same as speed command, the torque command can be
the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select
torque command. The speed and torque mode switching is controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure below:
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
ure 2. : Speed / Torque Control Mode Selection
In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the
speed mode (when S-T is OFF), the speed command is selected by SPD0~1, and then the motor will
immediately rotate following the command. After S-T is ON again, it will immediately return to torque
mode.
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.
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