Others; Applying The Speed Limit; Applying The Torque Limit - Delta ASDA-A3 Series User Manual

Operation Mode

6.6 Others

6.6.1 Applying the speed limit

The maximum speed in each mode (Position, Speed, Torque) is determined by the internal
6
parameter (P1.055). You use the same method for the Speed Limit and Speed commands.
You can use either the external analog voltage or the internal parameters (P1.009 – P1.011).
Refer to Section 6.3.1 for descriptions.
The speed limit is applicable only in Torque mode (T) for controlling the motor's maximum
speed. If you are using the external analog voltage in Torque mode, the DI signals are available
and you can set SPD0 – SPD1 for the motor speed limit value (internal parameters). If not, you
can use the analog voltage input for the Speed Limit command. When you set P1.002 (disable /
enable speed limit function) to 1, you enable the Speed Limit function. The timing diagram is
shown below.

6.6.2 Applying the torque limit

The methods for using the Torque Limit command and Torque command are the same. You can
use either the external analog voltage or the internal parameters (P1.012 – P1.014). Refer to
Section 6.4.1 for descriptions.
You can use the torque limit in Position mode (PT, PR) or Speed mode (S) to limit the motor
torque output. If you are using the external pulse in Position mode or using the external analog
voltage in Speed mode, the DI signals are available and you can set TCM0 – TCM1 for the
torque limit value (internal parameters). If not, you can use the analog voltage input for the
Torque Limit command. When you set P1.002 (disable / enable torque limit function) to 1,
you enable the Torque Limit function. The timing diagram is shown below.
6-34
Torque limit function disabled
(P1.002)
TCM0 - 1 invalid
Command source selection of torque limit
Torque limit function enabled
(P1.002)
TCM0 - 1 valid
ASDA-A3