Chapter 6 Control Mode of Operation ASDA-A2R SeriesRevision December, 2014 6-356.5 Dual ModeApart from single mode, dual mode is also provided for operation. According to Section 6.1,dual modes are as followings:1） Speed/position dual mode (PT-S, PR-S, PT-PR)2） Speed/torque (force) dual mode (S-T)3） Torque (force)/position dual mode (PT-T, PR-T)4） Position speed multi mode (PT-PR-S)5） Position torque (force) multi mode (PT-PR-T)ModeNameShort Name SettingCodeDescriptionDual ModePT-S 06 PT and S can be switched via DI signal, S_P.PT-T 07 PT and T can be switched via DI signal, T_P.PR-S 08 PR and S can be switched via DI signal, S_P.PR-T 09 PR and T can be switched via DI signal, T_P.S-T 0A S and T can be switched via DI signal, S_T.PT-PR 0D PT and PR can be switched via DI signal, PT_PR.Multi Mode PT-PR-S 0E PT , PR and S can be switched via DI signal, S_Pand PT_PR.PT-PR-T 0F PT , PR and T can be switched via DI signal, T_Pand PT_PR.Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputsin dual mode, speed and torque (force) mode can use external analog voltage as thecommand source so as to reduce digital input (SPD0, SPD1 or TCM0, TCM1). Positionmode could use input pulse of PT mode to save the use of DI (POS0, 1, 2, 3, 4, 5). Pleaserefer to Chapter 3.3.2, table 3.1, Default Value of DI Input Function and table 3.2, DefaultValue of DO Output Function for the default DI/DO of each mode.The relationship between DI/DO signals and PIN define are set after the mode is selected.If users desire to change the setting, please refer to Chapter 3.3.4.
