Delta Electronics ASDA-B Series manual Speed / Torque Control Mode Selection

Chapter 6 Control Modes of OperationASDA-B Series

6.5.2 Speed / Torque Control Mode Selection

S-T Mode:

The speed command can be the external analog voltage or internal parameters (P1-09 to P1-11) and SPD0~1 is used to select speed command. The same as speed command, the torque command can be the external analog voltage or internal parameters (P1-12 to P1-14) and TCM0~1 is used to select torque command. The speed and torque mode switching is controlled by the S-T signal.

The timing chart of speed / torque control mode selection is shown as the figure below:

S-T	OFF	ON
ON
NOT CARE	Speed source is determined	NOT CARE
	by SPD0~1
Torque source is determined	NOT CARE	Torque source is determined
by TCM0~1		by TCM0~1
Torque Mode	Speed Mode	Torque Mode

In torque mode (when S-T is ON), torque command is selected by TCM0~1. When switching to the speed mode (when S-T is OFF), the speed command is selected by SPD0~1, and then the motor will immediately rotate following the command. After S-T is ON again, it will immediately return to torque mode.

6.5.3 Torque / Position Control Mode Selection

T-P Mode:

The command source of T-P mode is from external input pulse. The torque command can be the external analog voltage or internal parameters (P1-12 to P1-14). The torque and position mode switching is controlled by the T-P signal.

The timing chart of speed / position control mode selection is shown as the figure below:

T-P	OFF	ON
ON
NOT CARE	Torque source is determined	NOT CARE
	by TCM0~1
Counting Pulse	Stop Counting Pulse	Counting Pulse
Position Mode	Torque Mode	Position Mode

In position mode (when T-P is ON), the motor will start to count pulse and operate following the external pulse command. When switching to the torque mode (when T-P is OFF), it will stop counting pulse even if the pulse command is continuously sent out. The torque command is determined by TCM0~1 and the motor will rotate following the command. After T-P is ON again, it will immediately return to position mode.

6-30 Revision January, 2009