Torque Mode; Selection Of Torque Command - Delta ASDA-M Series User Manual

ASDA-M

6.4 Torque Mode

Torque control mode (T or Tz) is appropriate in torque control application, such as printing
machine, winding machine, etc. There are two kinds of command source, analog input and
register. Analog command input uses external voltage to control the torque of the motor
while register uses the internal parameters (P1-12~P1-14) as the torque command.

6.4.1 Selection of Torque Command

Torque command source are external analog voltage and parameters. It uses CN1 DI
signal for selection. See as below.
Torque CN1 DI signal
command TCM1 TCM0
No.
T1
0
T2
0
T3 1
T4 1

The status of TCM0 ~ TCM1: 0 means DI OFF and 1 means DI ON.

When TCM0 = TCM1 = 0, if it is in Tz mode, then the command is 0. Thus, if there is
no need to use analog voltage as torque command, Tz mode is applicable and can
avoid the problem of zero drift. If it is in T mode, the command will be the voltage
deviation between T-REF and GND. Its input voltage range is -10V ～ +10V, which
means the corresponding torque is adjustable (P1-41).

When neither TCM0 nor TCM1 is 0, parameters become the source of torque
command. The command will be executed after TCM0 ~ TCM1 are changed. There
is no need to use CTRG for triggering.
The torque command can be used in torque mode (T or Tz) and speed mode (S or Sz).
When it is in speed mode, it can be regarded as the command input of torque limit.
Revision December, 2014
Command Source
External
T analog
0 Mode command
Tz N/A
1
Parameters
0
1
Chapter 6 Control Mode of Operation
Content
Voltage deviation
between T-REF
and GND
Torque command
is 0
P1-12
P1-13
P1-14
Range
-10 V ~ +10V
0
-300% ~ 300%
-300% ~ 300%
-300% ~ 300%
6-47