CANopen Technical Guide | ASDA-A2 Pt: Position control mode. The command is from external pulse or analog voltage (external analog voltage will be available soon). Execution of the command selection is via DI signal, PTAS. Pr: Position control mode. The command is from internal signal. Execution of 64 positions is via DI signals (POS0 ~ POS5). A variety of homing control is also provided. S: Speed control mode. The command is from external signal or internal signal. Execution of the command selection is via DI signals, SPD0 and SPD1. T: Torque control mode. The command is from external signal or internal signal. Execution of the command selection is via DI signals, TCM0 and TCM1. Sz:
Zero speed / internal speed command Tz: Zero torque / internal torque command Dual Mode: Control of the mode selection is via DI signals. For example, either Pt or S control mode can be selected via DI signal, S-P (see Table 8.A). Multiple Mode: Control of the mode selection is via DI signals. For example, either Pt or Pr or S control mode can be selected via DI signals, S-P and Pt-Pr (see Table 8.A). B: Torque output direction settings C: Discrete I/O Setting 1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can be reset to be the default value of the mode you switch to. 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. P3 - 00 Operation Related Section: 9.2 Interface: Keypad / Software Communication Default: 0x7F Control Mode: ALL Unit: N/A Range: 0x01 ~ 0x7F Data Size: 16-bit Display Format: Hexadecimal Settings: This parameter is used to set the communication slave address in hexadecimal format. This address is an absolute address which represents the servo drive on a RS-232/485 or Revision Sep, 2012 8 Direction 0 1 Forward Reverse Address: 0300H, ADR Communication Address Setting 0301H