Chapter 6 Control Mode of Operation ASDA-A2R Series6-36 Revision December, 20146.5.1 Speed／Position Dual ModeThere are PT-S and PR-S in speed/position dual mode. The command source of theformer one comes from external pulse while the latter one comes from internalparameters (P6-00~P7-27). Speed command could be issued by external analog voltageor internal parameters (P1-09~P1-11). The switch of speed/position mode is controlled byS-P signal and the switch of PR-S mode is controlled by DI signal, which is morecomplicated. The timing diagram is shown as below.In speed mode (S-P is ON), the speed command is selected via SPD0 and SPD1. CTRGis not working at the moment. When switching to position mode (S-P is OFF), sinceposition command has not been issued (needs to wait the rising edge of CTRG), themotor stops. The position command is determined by POS0~POS5 and triggered byrising edge of CTRG. When S-P is ON, it goes back to speed mode again. Please refer tothe introduction of single mode for DI signal and the selected command of each mode.6.5.2 Speed／Torque (force) Dual ModeS-T is the only mode. The speed command comes from the external analog voltage andinternal parameters (P1-09 ~P1-11), which is selected via SPD0~SPD1. Similarly, thesource of torque (force) command could be external analog voltage and internalparameters (P1-12～P1-14) and is selected via TCM0~TCM1. The switch ofspeed/torque (force) mode is controlled by S-T signal. The timing diagram is shown asbelow.In torque (force) mode (S-T is ON), the torque (force) command is selected via TCM0and TCM1. When switching to speed mode (S-T is OFF), the torque (force) command isselected via SPD0 and SPD1. The motor operates according to the speed command.Diagram 1: Dual control mode of speed and positionDiagram 2: Dual control mode of speed and torque
