Delta Electronics ASDA-AB manual Timing Chart of Torque Control Mode, TCM0 OFF, TCM1 OFF SON

Chapter 6 Control Modes of OperationASDA-AB Series

For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but the input voltage is changed to 5V, then the torque command is changed to 50% rated torque.

Torque command / limit = Input voltage x setting/10 (%)

6.4.5 Timing Chart of Torque Control Mode

	T4 (P1-14)
Internal speed	T3 (P1-13)
command
	T2 (P1-12)
External analog		T1
voltage or zero (0)
		TCM0	OFF	ON	OFF	ON
External I/O signal		TCM1	OFF		ON
		SON	ON

NOTE

1)OFF indicates normally open and ON indicates normally closed.

2)When torque control mode is Tz, the torque command T1=0; when torque control mode is T, the speed command T1 is external analog voltage input (Please refer to P1-01).

3)After Servo ON, the users can select command according to the state of TCM0~1.

Revision January 2009 6-31