Max. Analog Torque Command / Limit; Timing Chart Of Torque Control Mode - Delta ASD-B2-0121-B User Manual

Chapter 6 Control Modes of Operation
Relevant parameters:
P1 - 41▲ TCM

Max. Analog Torque Command / Limit

Default: 100
Applicable Control Mode: ALL
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: DEC
Settings:
In Torque mode, this parameter is used to set the output torque at maximum
input voltage (10V) of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at
maximum input voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it
indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but
the input voltage is changed to 5V, then the torque command is changed to 50%
rated torque.
Torque command / limit = Input voltage x setting/10 (%)

6.4.5 Timing Chart of Torque Control Mode

Internal speed
command
External analog
voltage or zero (0)
External I/O signal
NOTE
1) OFF indicates normally open and ON indicates normally closed.
2) When torque control mode is Tz, the torque command T1=0; when torque control mode is
T, the speed command T1 is external analog voltage input (Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of TCM0~1.
6-34
T4 (P1-14)
T3 (P1-13)
T2 (P1-12)
T1
TCM0
TCM1
SON
Related Section:
Section 6.4.4
OFF
ON
OFF
ON
Communication Addr.:
0152H, 0153H
OFF ON
ON
Revision June 2010