Delta Electronics none manual Speed / Torque Control Mode Selection, Pt-T Mode / Pr-T Mode

Chapter 6 Control Modes of OperationASDA-AB Series

In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is disabled at this time. When switching to the position mode (when S-P is OFF), the position command is not determined (it needs to wait that CTRG is on the rising edge), so the motor stop running. Once CTRG is on the rising edge, position command will be selected according to POS0~2 and the motor will immediately move to the determined position. After S-P is ON, it will immediately return to speed mode.

For the relationship between DI signal and selected command in each mode, please refer to the introduction of single mode.

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

NOT CARE

TCM0-1 VALID Torque control mode

SPD0-1 VALID

NOT CARE

Speed control mode

NOT CARE

TCM0-1 VALID

Torque control mode

Figure 2. : Speed / Torque Control Mode Selection

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

Pt-T Mode / Pr-T Mode:

The command source of Pt-T mode is from external input pulse. The command source of Pr-T mode is from internal parameters (P1-15 to P1-30). The torque command can be the external input pulse or internal parameters (P1-12 to P1-14). The torque and position mode switching is controlled by T-P signal. The selection will be more complicated when the position of Pr-T mode and torque command are both selected through DI signal.

Revision March 2008, Doc. Name: 2007PDD23000011 6-33