Delta ASD-A3-0121, Руководство пользователя

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Operation Mode ASDA-A3
6-32
Revision December, 2017
6
6.5.3 Torque / Position dual mode
Torque / Position dual mode includes PT-T and PR-T. The command source for PT-T comes
from the external pulse while the source for PR-T comes from internal parameters (P6.000 –
P7.027).
You control the Torque command with the external analog voltage or the internal parameters
(P1.012 – P1.014). The switch between Torque and Position mode is controlled by DI.T-P (0x20)
signal. You select PT and PR in Position mode with DI.PT-PR (0x2B). Thus, you select both
Position and Torque commands in PR-T mode with the DI signal. The timing diagram is shown
below.
CTRG
T-P
POS0 ~ 6 valid POS0 ~ 6 invalid POS0 ~ 6 invalid
TCM0 ~ 1 valid TCM0 ~ 1 invalid TCM0 ~ 1 valid
Position mode Torque mode Torque mode
Figure 6.5.3.1 Torque / Position dual mode
In Torque mode (DI.T-P is on), you select the Torque command with DI.TCM0 and DI.TCM1.
DI.CTRG is not applicable. When switching to Position mode (DI.T-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 determined by DI.POS0 – DI.POS6 and triggered by rising edge of
DI.CTRG. When DI.T-P is on, it returns to Torque mode. Please refer to the introduction of single
mode for the DI signal and the selected commands for each mode.