ASDA A2-E Chapter 2 System Setup PR: Position control mode. The command is from the internal signal. Execution of 64 positions is via DI.POS0 ~ POS5. A variety of homing control is also provided. S: Speed control mode. The command is from the external signal or internal signal. Execution of the command selection is via DI.SPD0 and DI.SPD1. T: Torque control mode. The command is from the external signal or internal signal. Execution of the command selection is via DI.TCM0 and DI.TCM1. Sz: Zero speed / internal speed command Tz: Zero torque / internal torque command Dual Mode: The control mode selection is via DI signals.
For example, either PT or S control mode can be selected via DI signal, S-P (see Table A). Multiple Mode: The control mode selection is via DI signals. For example, PT, PR or S control mode can be selected via DI signals, S-P and PT-PR (see Table A). Torque output direction settings Discrete I/O Setting 1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) will be set to the default value according to the mode you selected. 0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22) will remain the same and will not be changed. 2-2 Revision April, 2015 Direction 0 1 Forward Reverse