Chapter 6 Control Mode of Operation
ASDA-A2R Series
Revision December, 2014
6-37
When S-T is ON, it goes back to the torque (force) mode again. Please refer to the
introduction of single mode for DI signal and the selected command of each mode.
6.5.3 Torque
(force)
／
Position Dual Mode
There are PT-T and PR-T. The command source of the former one comes from external
pulse while the latter one comes from internal parameters (P6-00~P7-27). Torque (force)
command could be issued by external analog voltage or internal parameters
(P1-12~P1-14). The switch of torque (force)/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 (force) mode (T-P is ON), the torque (force) 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 (force) mode
again. Please refer to the introduction of single mode for DI signal and the selected
command of each mode.
Diagram 3: Dual control mode of torque and position
