User manual

ASDA-A User Manual Chapter 6 Control Modes of Operation

6-35

6-5-1 Speed / Position Control Mode Selection

Pt-S Mode / Pr-S Mode:

The command source of Pt-S mode is from external input pulse. The command source of Pr-S mode is

from internal parameters (P1-15 to P1-30). The speed command can be the external analog voltage or

internal parameters (P1-09 to P1-11). The speed and position mode switching is controlled by the S-P

signal. The selection will be more complicated when the position of Pr-S mode and speed command are

both selected through DI signal.

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

CTRG

S-P

POS0-2 NOT CARE POS0-2 NOT CARE

POS0-2 VALID

SPD0-1 VALID

SPD0~1 NOT CARE SPD0-1 VALID

Speed control mode

Position control mode

Speed control mode

Figure 1. : Speed / Position Control Mode Selection

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.