Delta ASD-A3-0121, User Manual

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ASDA-A3 Operation Mode
Revision December, 2017
6-29
6
6.5 Dual mode
Apart from single mode for position, speed, and torque control, there are eight dual / multiple
modes also provided for operation (See Section 6.1).
Mode Short name
Setting
code
Description
Dual mode
PT-S 06 PT and S can be switched with DI signal, S_P.
PT-T 07 PT and T can be switched with DI signal, T_P.
PR-S 08 PR and S can be switched with DI signal, S_P.
PR-T 09 PR and T can be switched with DI signal, T_P.
S-T 0A S and T can be switched with DI signal, S_T.
PT-PR 0D PT and PR can be switched with DI signal, PT_PR.
Multiple mode
PT-PR-S 0E
PT, PR, and S can be switched with DI signal, S_P and
PT_PR.
PT-PR-T 0F
PT, PR, and T can be switched with DI signal, T_P and
PT_PR.
Sz and Tz dual mode is not supported. To avoid occupying too many digital inputs in dual mode,
Speed and Torque modes can use the external analog voltage as the command source to reduce
the use of DI points (SPD0, SPD1 or TCM0, TCM1). In addition, Position mode can use the pulse
input to reduce the use of DI points (POS0, POS1, POS2, POS3, POS4, POS5, and POS6).
Please refer to Section 3.3.2 for the table of DI/O default value in each mode.
If you want to change the settings, the DI/O signals in correspondence with the PINs are defined
as above in Section 3.3.4.