Delta ASDA-A3 Series User Manual page 630

ASDA-A3
P1.014
Default: 100
Unit: %
Format: DEC
Settings:
Internal Torque command 3: third internal Torque command.
Internal torque limit 3: third internal torque limit.
1. When P2.112 [Bit 14] = 0 (the torque is in units of 1%):
Internal Torque command: 35 = 35%
Internal torque limit: positive and negative values are identical. Refer to the following descriptions.
Example of internal torque limit:
Torque limit value
of P1.014
35
-35
2. When P2.112 [Bit 14] = 1 (the torque is in units of 0.1 %):
Internal Torque command: 35 = 3.5%
Internal torque limit: positive and negative values are identical. Refer to the following descriptions.
Example of internal torque limit:
Torque limit value
of P1.014
35
-35
P1.015
Default: 0x0000
Unit: -
Format: HEX
Settings:
YX Range of filter (0 - 95%)
U Filter function status
Internal Torque command 3 / internal torque limit 3
Valid torque range
-35% to +35%
Valid torque range
-3.5% to +3.5%
E-Cam: filter setting for synchronous Capture axis
correction
T / Tz: internal Torque command 3
Control mode:
PT / PR / S / Sz: internal torque limit 3
Setting range: -5000 to +5000
Data size: 16-bit
Torque limit in forward
direction
35%
Torque limit in forward
direction
3.5%
Control mode: PR
Setting range: 0x0000 - 0x1F5F
Data size: 16-bit
Z Filter intensity (0 - F)
- -
Parameters
Address: 011CH
011DH
Torque limit in reverse
direction
-35%
Torque limit in reverse
direction
-3.5%
Address: 011EH
011FH
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