What do Mode 1 and Mode 2 refer to in the DI functions of the A6-RS series drive?

In the A6-RS series, the drive is equipped with 8 DI digital input function terminals. Each DI terminal supports 37 different function definitions, greatly enhancing the flexibility of the servo system. Taking DI1 as an example, as shown in the figure below:

It can be seen that, except for Function 8/9's Mode 1/2, other functions are relatively easy to understand. Below, we will focus on how to use Mode 1 and Mode 2.

First, let's locate parameter C00.00 (Servo Control Mode).

This parameter is used to change the control mode of the servo motor. The A6-RS series supports Position/Speed/Torque control, which can be set to 0/1/2 respectively. It is worth mentioning that besides these three single modes, the A6-RS series also supports 4 multi-control modes: 3/4/5/6. Simply put, when these modes are used, the drive supports real-time switching.

For example, if you need the servo motor to switch from Position mode to Speed mode rapidly after running in Position mode for a period, the usual method is to wait for the Position mode operation to end and then manually change C00.00=1. This requires stopping the motor first, making the operation cumbersome and time-consuming. However, if Position to Speed mode (C00.00=3) is used, there is no need to manually change C00.00 again. You only need to set any DI terminal to 8 (Mode 1). Then, whenever the DI function is triggered, the servo drive will switch the control mode from Position mode to Speed mode. When the trigger is turned off, the drive's control mode will return to Position mode. Similarly, the same logic applies when C00.00=4/5. The DI function Mode 1 represents the second control mode in the multi-mode setup.

So, does Mode 2 correspond to the third control mode in multi-mode? Yes. When C00.00=6, the servo is in a Position-Speed-Torque triple mode switching state. In this case, you need to set one DI function to Mode 1 and another DI function to Mode 2. Here, Mode 1 represents Speed mode, and Mode 2 represents Torque mode. By triggering these two DI terminals, you can switch from Position mode to the other two modes.

However, please note the following when using the multi-mode function:

1. Do not set multiple DI functions to the same mode function, as this will cause a drive alarm.
2. Avoid frequent switching of control modes.
3. When using C00.00=6, do not trigger Mode 1 and Mode 2 simultaneously.

Updated on: 30/10/2025