Delta ASD-B2-0121-B, User Manual

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Chapter 6 Control Modes of Operation
6-36
Revision June 2010
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:
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:
The command source of PT-T mode is from external input pulse. 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 timing chart of speed / position control mode selection is shown as the figure below: