Delta AS Series Programming Manual page 1337

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Make sure that all Delta drives have been initialized before executing this instruction.

For execution of this instruction, you need to use PLC FW V1.06.20 or later and ISPSoft V3.07 or later.

For Delta Servo Drives: set the parameter P1-01 to 3 (T: Torque Control mode) and turn the power off and on

again for the setting to be effective.

For Delta Vector Control Drives: use ASDON instruction to set Torque Control mode and set the parameter P00-20

(source of master frequency command (AUTO)) to 6 (CANopen communication card) on Delta AC Motor Drives

that supports torque control mode.

Node: the Node ID of Delta Servo Drives and Delta AC Motor Drives, ranging from 1 to 8 (Delta Servo Drives) and

21 to 28 (Delta AC Motor Drives). If the setting is out of the range, Err flag will be ON.

Node、TarSpd、...、Err

Pulse Instruction

16-bit instruction

： Node ID of Delta drives

TarSpd ： Specified target speed

LimitTQ ： Maximum torque

CurTQ ： Target torque is reached

Reach ： Communication error flag

： Target torque is reached

Speed of torque control

32-bit instruction

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