Delta Electronics ASDA-AB Benutzerhandbuch

Chapter 6  Control Modes of Operation|ASDA-AB Series 

Revision January 2009 

 

 

6-33 

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. 
 

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

NOT CARE

SPD0-1 VALID

TCM0-1 VALID

NOT CARE

TCM0-1 VALID

Torque control mode

Speed control mode

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.  
 

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.