Delta ASD-A3-0121, User Manual

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Operation Mode ASDA-A3
6-4
Revision December, 2017
6
Here are the steps to switch the operation mode:
1. Switch the servo drive to Servo Off status. You can do this by setting DI.SON to OFF.
2. Set P1.001 and refer to the code listed above for the mode selection.
3. After setting the parameter, cycle the power to the servo drive.
The following sections describe the operation of each mode, including the mode structure,
command source, selection and processing of the command, and gain adjustment.
6.2 Position mode
Two input modes for position control are available on the ASDA-A3: external pulse (PT mode)
and internal register (PR mode). In PT mode, the ASDA-A3 servo drive receives the pulse
command for direction (motor runs forward or reverse). You can control the rotation angle of the
motor with the input pulse. The ASDA-A3 can receive pulse commands of up to 4 Mpps.
You can also accomplish position control using the internal register (PR mode) without the
external pulse command. The ASDA-A3 provides 99 command registers with two input modes.
You can set the 99 registers first before switching the drive to Servo On status and then set
DI.POS0 – DI.POS6 of CN1 for the switch. Or, you can directly set the register values through
communication.
6.2.1 Position command in PT mode
The PT Position command is the pulse input from the terminal block. There are three pulse types
and each type has positive and negative logic that you can set in parameter P1.000. Please refer
to Chapter 8 for more details.
Parameter Function
P1.000 External pulse input type