Torque Control Mode; Command Source Of Torque Control Mode - Delta ASDA-A2 Series User Manual

Chapter 6 Control Modes of Operation

6.4 Torque 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-A2 series servo drives
support 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.
DI signal of
Torque
Command
TCM1 TCM0
T1 0
T2 0
T3 1
T4 1
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).
6-48
CN1
Command Source
T
0 Mode
Tz
1
0 Internal parameter
1
Voltage between
External analog
signal
T-REF-GND
Torque
None
command is 0
Content Range
-10V ~ +10V
0
P1-12
-300% ~
P1-13
300%
P1-14
Revision September 2012