Delta Electronics ASDA-B Series manual Others Speed Limit, Torque Limit

Chapter 6 Control Modes of OperationASDA-B Series

6.6Others

6.6.1 Speed Limit

The max. servo motor speed can be limited by using parameter P1-55 no matter in position, speed or torque control mode.

The command source of speed limit command is the same as speed command. It can be the external analog voltage but also can be internal parameters (P1-09 to P1-11). For more information of speed command source, please refer to chapter 6.3.1.

The speed limit only can be used in torque mode (T mode) to limit the servo motor speed. When the torque command is the external analog voltage, there should be surplus DI signal that can be treated as SPD0~1 and be used to select speed limit command (internal parameter). If there is not enough DI signal, the external voltage input can be used as speed limit command. When the Disable / Enable Speed Limit Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.

The timing chart of speed limit is shown as the figure below:

Disable / Enable Speed Limit Function Settings in parameter P1-02 is set to 0

Disable / Enable Speed Limit Function Settings in parameter P1-02 is set to 1

SPD0~1 INVALID SPD0~1 VALID

Command Source Selection of Speed Limit

6.6.2 Torque Limit

The command source of torque limit command is the same as torque command. It can be the external analog voltage but also can be internal parameters (P1-12 to P1-14). For more information of torque command source, please refer to chapter 6.4.1.

The torque limit only can be used in position mode (P mode) and speed mode (S mode) to limit the output torque of servo motor. When the position command is the external pulse and speed command is the external analog voltage, there should be surplus DI signal that can be treated as TCM0~1 used to select torque limit command (internal parameter). If there is not enough DI signal, the external voltage input can be used as torque limit command. When the Disable / Enable Torque Limit Function Settings in parameter P1-02 is set to 1, the torque limit function is activated.

The timing chart of torque limit is shown as the figure below:

Disable / Enable Torque Limit Function Settings in parameter P1-02 is set to 0

Disable / Enable Torque Limit Function Settings in parameter P1-02 is set to 1

TCM0~1 INVALID TCM0~1 VALID

Command Source Selection of Torque Limit

Revision January, 2009 6-31