Torque Mode; Selecting The Torque Command Source - Delta ASDA-A3 Series User Manual

Operation Mode

6.4 Torque mode

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 internal
6
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 for CN1. See the table below for more detail.
Torque
command
number
T1
T2
T3
T4
 Status of TCM0 – 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 – 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.
6-26
CN1 DI signal
Command source
TCM1 TCM0
T
0 0 Mode
Tz N/A
0 1
1 0 Register parameters
1 1
Content
External Voltage difference between
analog signal T_REF and GND
Torque command is 0
P1.012
P1.013
P1.014
ASDA-A3
Range
-10V to +10V
0
-400% to +400%
-400% to +400%
-400% to +400%