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Revision March 2008, Doc. Name: 2007PDD23000011
6-1
Chapter 6 Control Modes of Operation
6.1 Control Modes of Operation
The Delta ASDA-AB series can be programmed to provide six single and five dual modes of operation. Their
operation and description is listed in the following table.
Mode
Code
Description
External Position Control
Pt
Position control for the servo motor is achieved via an
external pulse command.
external pulse command.
Internal Position Control
Pr
Position control for the servo motor is achieved via by 8
commands stored within the servo controller. Execution of
the 8 positions is via Digital Input (DI) signals.
commands stored within the servo controller. Execution of
the 8 positions is via Digital Input (DI) signals.
Speed Control
S
Speed control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 V
parameters set within the controller or from an external
analog -10 ~ +10 V
DC
command. Control of the internal
speed parameters is via the Digital Inputs (DI). (A maximum
of three speeds can be stored internally).
of three speeds can be stored internally).
Internal Speed Control
Sz
Speed control for the servo motor is only achieved via
parameters set within the controller. Control of the internal
speed parameters is via the Digital Inputs (DI). (A maximum
of three speeds can be stored internally).
parameters set within the controller. Control of the internal
speed parameters is via the Digital Inputs (DI). (A maximum
of three speeds can be stored internally).
Torque Control
T
Torque control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 V
parameters set within the controller or from an external
analog -10 ~ +10 V
DC
command. Control of the internal
torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).
maximum of three torque levels can be stored internally).
Single
Mode
Internal Torque Control
Tz
Torque control for the servo motor is only achieved via
parameters set within the controller. Control of the internal
torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).
parameters set within the controller. Control of the internal
torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).
Pt-S Either Pt or S control mode can be selected via the Digital
Inputs (DI)
Pt-T Either Pt or T control mode can be selected via the Digital
Inputs (DI)
Pr-S Either Pr or S control mode can be selected via the Digital
Inputs (DI)
Pr-T Either Pr or T control mode can be selected via the Digital
Inputs (DI)
Dual Mode
S-T
Either S or T control mode can be selected via the Digital
Inputs (DI)
Inputs (DI)
The steps of changing mode:
(1)
Switching the servo drive to Servo Off status. Turning SON signal of Digit input to be off can complete
this action.
this action.
(2)
Using parameter P1-01. (Refer to chapter 7).
(3)
After the setting is completed, cut the power off and restart the drive again.