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ASDA-A3

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Control Mode

6.5.3 Torque / Position dual mode

Torque / Position dual mode includes PT-T and PR-T. The command source for the Position

command of PT-T comes from the external pulse while the source for the Position command of

PR-T comes from internal parameters (P6 - P7). The command source for Torque command can

be the external analog voltage or the internal parameters (P1.012 - P1.014). The switch

between Torque and Position modes is controlled by DI.T-P (0x20). The switch between PT and

PR of Position mode is controlled by DI.PT-PR (0x2B). The following timing diagram illustrates

the PR-T mode. Position and Torque commands in PR-T mode are switched with DI signals.

CTRG

T-P

OFF

ON

OFF

POS0 - 6 invalid

POS0 - 6 valid

POS0 - 6 invalid

TCM0 - 1 valid

Torque mode

TCM0 - 1 invalid

Position mode

Figure 6.5.3.1 Torque / Position dual mode

TCM0 - 1 valid

Torque mode

In Torque mode (DI.T-P is off), you select the Torque command with DI.TCM0 and DI.TCM1.

DI.CTRG is invalid in this mode. When the mode is switched to Position mode (DI.T-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.T-P is off, it returns to Torque mode. Refer to the introduction

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

6

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