Torque Mode; Selecting The Torque Command Source - Delta ASDA-B3 Series User Manual

Operation Mode

6.4 Torque mode

The Torque control mode (T or Tz) is suitable for torque control applications, such as printing
machines and winding machines. There are two kinds of command sources: analog input and
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internal register (parameters). The analog command input uses scaled external voltage to
control the torque of the motor while the register uses the internal parameters (P1.012 - P1.014)
for the Torque command.

6.4.1 Selecting the Torque command source

External analog voltage and internal parameters are the two Torque command sources.
You select the command source with DI signals of CN1. See the following table for more details.
Torque
command
number
T1
T2
T3
T4
 Status of TCM0 and TCM1: 0 means that DI is off (the circuit is open); 1 means that DI is
on (the circuit is closed).
 When both TCM0 and TCM1 are 0, if it is in Tz mode, then the command is 0. If there is no
need to use the analog voltage for the Torque command, then Tz mode is applicable and
can avoid the problem of zero voltage drift. If it is in T mode, then the command is the
voltage difference between T_REF and GND. Its input voltage range is -10V to +10V,
which means you can adjust the corresponding torque (P1.041).
 When either one of TCM0 or TCM1 is not 0, the internal parameters become the source
for the Torque command. The command is executed after TCM0 and TCM1 are switched.
There is no need to use DI.CTRG for triggering.
You can use the Torque command in Torque mode (T or Tz) and Speed mode (S or Sz). When it
is in Speed mode, you can think of it as the command input for the torque limit.
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CN1 DI signal
Command source
TCM1 TCM0
0 0 Mode
0 1
1 0
Register parameter
1 1
Voltage difference
External analog
T between T_REF and
signal
Tz N/A Torque command is 0
Content Range
-10V to +10V
GND
0
P1.012 -500% to 500%
P1.013 -500% to 500%
P1.014 -500% to 500%
ASDA-B3