Delta ASD-A3-0121, Руководство пользователя

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Operation Mode ASDA-A3
6-30
Revision December, 2017
6
6.5.1 Speed / Position dual mode
PT-S and PR-S are available in Speed / Position dual mode. The command source for PT-S
comes from the external pulse while the source for PR-S comes from the internal parameters
(P6.000 – P7.027). You can control the Speed command with the external analog voltage or the
internal parameters (P1.009 – P1.011). The switch for Speed / Position mode is controlled by
DI.S-P (0x18) signal. The switch for PT and PR for Position mode is controlled by DI.PT-PR
(0x2B). Thus, you select both Position and Speed commands in PR-S mode with the DI signal.
The timing diagram is shown below.
CTRG
S-P
POS0 ~ 6 valid POS0 ~ 6 invalid
SPD0 ~ 1 valid SPD0 ~ 1 invalid SPD0 ~ 1 valid
Speed mode Speed mode Position mode
Figure 6.5.1.1 Speed / Position dual mode
In Speed mode (DI.S-P is on), you select the Speed command with DI.SPD0 and DI.SPD1.
DI.CTRG is not applicable. When switching to Position mode (DI.S-P is off), since the Position
command has not been issued (it waits for the rising edge of DI.CTRG), the motor stops. The
Position command is controlled by DI.POS0–DI.POS6 and triggered by the rising edge of
DI.CTRG. When DI.S-P is on, it returns to Speed mode. Please refer to the introduction of single
mode for the DI signal and the selected commands for each mode.