Delta Electronics ASDA-AB manual Tlmod, Torque Limit Mixed Mode Communication Addr H

Chapter 7 Servo ParametersASDA-AB Series

P2 - 64

TLMOD	Torque Limit Mixed Mode		Communication Addr.: 0240H
Default: 0			Related Section: N/A
Applicable Control Mode: Pt, Pr, S
Unit: N/A
Range: 0 ~ 3
Settings:
		PL: Positive Limit
		NL: Negative Limit
		Tref: Torque Analog Input Voltage
		Tpl: Actual PL value in “Torque Limit Mixed Mode”
		Tnl: Actual NL value in “Torque Limit Mixed Mode”

0:Disabled

1:Torque limit mixed mode (No polarity) If Tref<PL, Tpl = Tref

If Tref>PL, Tpl = PL

If Tref<NL, Tnl = Tref If Tref>NL, Tnl = NL

2:Torque limit mixed mode (Positive)

If 0<Tref<PL, Tpl = Tref

If Tref>PL, Tpl = PL

If Tref<0, Tpl,Tnl = 0

3:Torque limit mixed mode (Negative) If Tref>0, Tpl,Tnl = 0

If -NL<Tref<0, Tnl = -Tref If Tref<-NL, Tnl = NL

This parameter can allow the users to set two different kinds of torque limit command sources when limiting torque. We call it is “Torque Limit Mixed Mode”.

The torque limit function is activated by parameter P1-02 or via digital input TRQLM, TLLM or TRLM.

If the users use TRQLM or P1-02 to activate torque limit function, the torque limit command source can be analog input or internal parameters (P1-12 to P1-14) depending on which way you use to activate torque limit function. At this time, the limit of PL and NL in the figure below are specified as the torque limit that determined by the torque limit command source.

If the users use TLLM or TRLM to activate torque limit function, the torque limit command source can be parameter P1-12 (NL) or P1-13 (PL).

7-74 Revision January 2009