Delta ASD-M-0721 Series, Руководство пользователя

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Chapter 6 Control Mode of Operation ASDA-M
6-54
Revision December, 2014
Diagram 2: Dual control mode of speed and torque
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When
switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and
SPD 1. The motor operates according to the speed command. When S-T is ON, it goes
back to the torque mode again. Please refer to the introduction of single mode for DI
signal and the selected command of each mode.
6.5.3 Torque
／
Position Dual Mode
There are PT-T and PR-T in speed/position dual mode. The command source of the
former one comes from external pulse while the latter one comes from internal
parameters (P6-00~P7-27). Torque command could be issued by external analog voltage
or internal parameters (P1-12~P1-14). The switch of torque/position mode is controlled
by T-P signal and the switch of PR-T mode is controlled by DI signal, which is more
complicated. The timing diagram is shown as below.
Diagram 3: Dual control mode of torque and position
In torque mode (T-P is ON), the torque command is selected via TCM0 and TCM1.
CTRG is not working at the moment. When switching to position mode (T-P is OFF),
since position command has not been issued (needs to wait the rising edge of CTRG),
the motor stops. The position command is determined by POS0~POS5 and triggered by
rising edge of CTRG. When T-P is ON, it goes back to torque mode again. Please refer
to the introduction of single mode for DI signal and the selected command of each mode.