Torque Mode; Selection Of Torque Command - Delta ASD-A2-0121 Series User Manual

Chapter 6 Control Mode of Operation
6.4

Torque Mode

Torque control mode (T or Tz) is appropriate in torque control applications, 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 sources are external analog voltage and parameters. It uses CN1 DI signal for
selection. See as below.
DI signal of CN1
Torque
Command
TCM1
T1 0
T2 0
T3 1
T4 1
The status of TCM0 ~ TCM1: 0 means DI is OFF and 1 means DI is 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.
6-48
Command Source
TCM0
T
0 Mode
Tz
1
0 Register Parameters
1
Voltage difference
External analog
between
command
T-REF and GND
Torque command
None
is 0
ASDA-A2
Content Range
-10V ~ +10V
0
P1-12
-300% ~
P1-13
300%
P1-14