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

ASDA-A2

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.
DI signal of
Torque
Command
TCM1 TCM0
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 mean 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 February, 2017
CN1
Command Source
T
0 Mode
Tz
1
0 Parameters
1
Voltage between
External analog
command
T-REF-GND
Torque command
None
is 0
Chapter 6 Control Mode of Operation
Content Range
-10V ~ +10V
0
P1-12
-300% ~
P1-13
300%
P1-14
6-45