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ASDA-A3

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Control Mode

6.5.1 Speed / Position dual mode

PT-S and PR-S are available in Speed / Position dual mode. The command source for PT-S

comes from the external pulse while the source for PR-S comes from the internal parameters

(P6 - P7). You can control the Speed command with the external analog voltage or the internal

parameters (P1.009 - P1.011). The switch between Speed and Position modes is controlled by

DI.S-P (0x18). The switch between PT and PR of Position mode is controlled by DI.PT-PR (0x2B).

The following timing diagram illustrates the PR-S mode. The switch between Position and Speed

commands in PR-S mode is controlled by DI signals.

CTRG

S-P

OFF

ON

OFF

POS0 - 6 invalid

POS0 - 6 valid

POS0 - 6 invalid

SPD0 - 1 valid

SPD0 - 1 invalid

Speed mode

Position mode

Figure 6.5.1.1 Speed / Position dual mode

SPD0 - 1 valid

Speed mode

In Speed mode (DI.S-P is off), you select the Speed command with DI.SPD0 and DI.SPD1.

DI.CTRG is invalid in this mode. When the mode is switched to Position mode (DI.S-P is on),

since the Position command has not been issued (it waits for the rising edge of DI.CTRG),

the motor stops (indicated by △ in the preceding figure). The Position command is selected with

DI.POS0 - DI.POS6 when the rising edge of DI.CTRG is triggered, and then the motor operates

to the specified position. When DI.S-P is off, it returns to Speed mode. Refer to the introduction

of single mode for the DI signal and the selected commands for each mode.

6

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