Delta ASDA-A3 Series User Manual page 424

ASDA-A3
The settings and descriptions for the torque level detection (P1.087) and level reached timer
(P1.088) are as follows.
P1.087
Default: 1
Unit: %
Format: DEC
Settings:
This setting is only for the torque homing mode. As shown in the following figure, after homing is
triggered, the motor runs in one direction and the mechanical part reaches the protector. The servo
drive then outputs a larger motor current in order to counter the external force. The servo drive uses
P1.087 and P1.088 as the conditions for homing. Since the hard stops are not always the same, it is
recommended that you have the servo return to return to find the Z pulse as the origin.
Torque level
detection P1.087
Torque curve when
the servo searches
for the hard stop
Torque curve when
the servo searches
for Z pulse
Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087). For
example: set P1.087 to 50%, then the maximum torque output of the motor is 60%.
P1.088
Default: 2000
Unit: ms
Format: DEC
Settings:
The setting of the torque level reached timer for the torque homing mode. If the motor torque output
continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is
complete. Refer to P1.087 for the timing diagram of torque homing mode.
Torque homing - torque level detection
Protector
Level reached timer P1.088
Maximum torque output
10%
Z pulse
Torque homing - level reached timer
Control mode: PR
Setting range: 1 - 300
Data size: 16-bit
Starting point
Control mode: PR
Setting range: 2 to 2000
Data size: 16-bit
Motion Control
Address: 01AEH
01AFH
Address: 01B0H
01B1H
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