Delta Electronics ASDA-AB manual Command Source of Torque Control Mode

Chapter 6 Control Modes of OperationASDA-AB Series

6.4Torque Control Mode

The torque control mode (T or Tz) is usually used on the applications of torque control, such as printing machine, spinning machine, twister, etc. Delta ASDA-AB series servo drive supports two kinds of command sources in torque control mode. One is external analog signal and the other is internal parameter. The external analog signal is from external voltage input and it can control the torque of servo motor. The internal parameters are from P1-12 to P1-14 which are used to be the torque command in torque control mode.

6.4.1 Command Source of Torque Control Mode

Torque command Sources:

1)External analog signal: External analog voltage input, -10V to +10V

2)Internal parameter: P1-12 to P1-14

The command source selection is determined by the DI signal of CN1 connector.

Torque	DI signal of CN1
				Command Source		Content	Range
Command	TCM1	TCM0
						Voltage between
				T	External analog signal		+/- 10 V
T1	0	0	Mode			T-REF-GND
				Tz	None	Torque command is 0	0
T2	0	1				P1-12	+/- 300 %
				Internal parameter
T3	1	0				P1-13	+/- 300 %
T4	1	1				P1-14	+/- 300 %

„State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

„When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, then the command is 0. Therefore, if the users do not use analog voltage as torque command, the users can choose Tz mode to operation torque control to avoid the zero point drift problem of analog voltage. If the control mode of operation is T, then the command is the analog voltage between T-REF and GND. The setting range of the input voltage is from -10V to +10V and the corresponding torque is adjustable (see parameter P1-41).

„When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal parameter. The command is valid (enabled) after either TCM0 or TCM1 is changed.

The torque command that is described in this section not only can be taken as torque command in torque control mode (T or Tz mode) but also can be the torque limit input command in position mode (P mode) and speed control mode (S or Sz mode).

6-28 Revision January 2009