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Control Mode

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ASDA-A3

6

6.7.4.8 Set DI [0x0B] to switch between full- and semi-closed loop modes

DI [0x0B] is effective only when the full-closed loop function is enabled (P1.074.X = 1).

When the full-closed loop function is disabled, the setting of P1.072 is ignored.

Example 1 illustrates the semi-closed loop function in full-closed loop mode and Example 2

illustrates the semi-closed loop function which you usually use. The setting of P1.072 is effective

when the full-closed loop function is enabled, so pay special attention when using the semi-closed

loop functions.

Example 1: enable the full-closed loop function (P1.074.X = 1), set DI [0x0B] to On, E-Gear ratio

to 1 : 1, and P1.072 to 5000.

To have the motor run a cycle when the full-closed loop function is enabled,

the position command has to be 5000.

Example 2: disable the full-closed loop function (P1.074.X = 0), set DI [0x0B] to On, E-Gear ratio

to 1 : 1, and P1.072 to 5000.

To have the motor run a cycle when the full-closed loop function is disabled,

the position command has to be 16777216 because the DI setting is ineffective and

the setting of P1.072 is ignored.

Value: 0x0B

DI name

Description

FHS Switch between full- and semi-closed loop modes.

Note: PR full-closed loop function is not yet supported.

Triggering

method

Level

triggered

Control

mode

PT, PR*

6-56

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