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Control Mode

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ASDA-A3

6

6.5 Dual mode / Multi-mode

Apart from the single modes for position, speed, and torque, there are also eight dual /

multi-modes available for operation (see Section 6.1).

Mode

Dual mode

Multi-mode

Short name

PT-S

PT-T

PR-S

PR-T

S-T

PT-PR

PT-PR-S

PT-PR-T

Code

06

07

08

09

0A

0D

0E

0F

Description

Switch PT and S modes with DI.S-P.

Switch PT and T modes with DI.T-P.

Switch PR and S modes with DI.S-P.

Switch PR and T modes with DI.T-P.

Switch S and T modes with DI.S-T.

Switch PT and PR modes with DI.PT-PR.

Switch PT, PR, and S modes with DI.S-P and DI.PT-PR.

Switch PT, PR, and T modes with DI.T-P and DI.PT-PR.

The dual mode for Sz and Tz is not supported. To avoid occupying too many digital inputs in

dual / multi-mode, Speed and Torque modes can use the external analog voltage as the

command source to reduce the use of DI points (SPD0, SPD1 or TCM0, TCM1). In addition,

Position mode (PT) can use the pulse input to reduce the use of DI points (POS0, POS1, POS2,

POS3, POS4, POS5, and POS6).

To refer to the tables of default DI/DO functions or to change the DI/DO functions, see Sections

3.3.2 and 3.3.4 for more information.

6-32

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