Delta AS Series Programming Manual page 1338

5. TarSpd: specified target speed
Drive Node ID
Types Range
Servo Drive 1~8
AC Motor
21~28
Drive
6. LimitTQ: maximum torque value; once the instruction is started, the setting applies to the servo drive. You can
NOT modify the settings during the execution of this instruction.
Setting the servo parameter P1-12 (internal torque limit 1), valid range: -300~+300, unit: 1%; value exceeding the
upper/lower limit will be treated as the upper/lower limit value. For FW V1.08.40 or later, ASDA-A3/B3 high
resolution torque mode is supported; valid range: -3000~+3000, unit: 0.1%, value exceeding the upper/lower limit
will be treated as the upper/lower limit value. Setting P1-02 (speed and torque (force) limit setting); Set servo DI to
TCM0 = ON and TCM1 = OFF in order to select internal torque command to 1. It is suggested to use COPRW
instruction to clear the value in servo parameter P1-12 before Power-On. Since the default value of P1-12 is NOT
0%, it will start running once it is Servo ON. Supposing input a value of 30 in P1-12 and you will have the
followings as shown in the table:
Allowable torque (force) range
-30% ~ +30%
Setting the AC motor drive parameter P11-17 (forward motor torque limit Quadrant I) and P11-19 (reverse motor
torque limit Quadrant III), valid range: 0~+500, unit: 1%; value exceeding the upper/lower limit will be treated as the
upper/lower limit value. Supposing input a value of 30 in P11-17 and P11-19 and you will have the followings as
shown in the table:
Setting P11-17
Item
Value +30
7. CurTQ: current torque value; unit: 0.1%; the value here is the same as the value shown in its corresponding SR.
Refer to API 2803 DRVIC instruction for more details on the corresponding SR.
8. Reach is the result of the comparison between CurTQ and TarTQ, shown in 0.1% as its unit. When CurTQ >=
TarTQ, the Reach flag is ON. When CurTQ < (TarTQ – 5), the Reach flag is OFF. The delay response value is 5.
9. If the nodes of the drives respond with error messages or do not respond, PLC will set Err flag to ON. For more
details on error codes, refer to SR658 and SR659 from API 2803 DRVIC instruction.
10. Since the values in the command of torque and speed may vary. It is suggested to check the manuals of Delta
Servo Drives and AC Motor Drives before setting up. This instruction does NOT examine or make any restrictions if
there is invalid setting or value.
11. The moment when the instruction is closed, all the restrictions on torque value will be lifted, so that the drive can
execute other positioning commands.
TarSpd
Setting Range
-60000 ~ 60000 (0.1rpm)
Example: input 6005 indicating 600.5rpm
-32768 ~ 32767 (1rpm)
Example: input 605 indicating 605rpm
Forward torque (force) limit
P11-19 Allowable torque
(force) range
+30 -30% ~ +30%
Ch ap te r 6 App l ied Ins tr uc ti ons
The +/- sign indicates the forward /
reverse direction.
Reverse torque (force) limit
30%
Forward torque (force)
limit
30%
TarSpd
-30%
Reverse torque (force)
limit
-30%
6 - 1 0 5 9
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